CN213320158U - Access frame and access robot of access robot - Google Patents
Access frame and access robot of access robot Download PDFInfo
- Publication number
- CN213320158U CN213320158U CN202022054883.8U CN202022054883U CN213320158U CN 213320158 U CN213320158 U CN 213320158U CN 202022054883 U CN202022054883 U CN 202022054883U CN 213320158 U CN213320158 U CN 213320158U
- Authority
- CN
- China
- Prior art keywords
- access
- tool
- support structure
- bearing
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The application discloses access frame and access robot of access robot includes: the first support structure comprises a plurality of placing positions for storing the tools; the second support structure comprises a plurality of placing positions for storing the tools, and is arranged opposite to the first support structure; the access arm is arranged between the first support structure and the second support structure and comprises a driving guide rail and a motion table, and the driving guide rail is connected with the motion table and is configured to drive the motion table to move in the vertical direction and the horizontal direction; the moving table is provided with a sliding support arm for bearing the tool, and the sliding support arm is configured to slide towards the direction of the first support structure or the direction of the second support structure. The tool is stored on the first support structure and the second support structure which are positioned on two sides by utilizing one access arm, on one hand, the access arm can access more tools only by moving in a smaller range, and on the other hand, the occupied space of the access frame is smaller.
Description
Technical Field
The application relates to the technical field of tool fixtures, in particular to a storage and taking frame of a storage and taking robot and the storage and taking robot.
Background
The tool jig is an important part in the machining process, tools of various types are required for machining of certain complex equipment, and when the number of the tools is large, the problem that how to quickly and effectively store a plurality of tools needs to be solved urgently is solved.
SUMMERY OF THE UTILITY MODEL
The application provides a storage and taking frame and storage and taking robot of access robot, can make things convenient for depositing of frock.
According to an aspect of the present application, there is provided an access rack of an access robot, including:
the first support structure comprises a plurality of placing positions for storing the tools;
the second support structure comprises a plurality of placing positions for storing the tools, and is arranged opposite to the first support structure;
the access arm is arranged between the first support structure and the second support structure and comprises a driving guide rail and a motion table, and the driving guide rail is connected with the motion table and is configured to drive the motion table to move in the vertical direction and the horizontal direction;
the moving table is provided with a sliding support arm for bearing the tool, and the sliding support arm is configured to be capable of sliding towards the direction of the first support structure or the direction of the second support structure so as to convey the tool to a placing position on the first support structure or a placing position on the second support structure.
According to some embodiments, the first scaffold structure has a plurality of layers, and each layer of the first scaffold structure has a plurality of placement locations;
the second support structure has a plurality of layers, and each layer of the second support structure has a plurality of placement positions;
the layer heights of each first support structure and each second support structure are the same.
According to some embodiments, the sliding support arm is provided with a limiting portion capable of extending up and down, and the limiting portion is configured to extend upwards and then be connected with a clamping groove in the tool so as to limit the tool.
According to some embodiments, the length dimension of the first scaffold structure is greater than the length dimension of the second scaffold structure in a direction perpendicular to the direction from the first scaffold structure to the second scaffold structure;
and a tool placing area is arranged on one side opposite to the first support structure and arranged beside the second support structure.
According to some embodiments, the motion stage comprises two sliding arms arranged in parallel;
each sliding support arm comprises a support arm sliding rail and a support beam, and the support beam is connected with the support arm sliding rail in a sliding manner;
the support arm slide rail extends from a position close to the first support structure to a position close to the second support structure, and the support arm slide rail can slide to a placing position extending into the first support structure or slide to a placing position extending into the second support structure.
The second aspect of the present application also provides an access robot including:
the access rack of any of the above;
a pickup mechanism;
wherein, the pickup mechanism includes:
a frame body;
the bearing table is arranged above the frame body and comprises a first table body and a second table body, and the first table body and the second table body are arranged at intervals;
the push-pull assembly is arranged between the first platform body and the second platform body and comprises an automatic driving device, a manual driving device and a push-pull head, and the automatic driving device and the manual driving device are connected with the push-pull head so as to drive the push-pull head to move along a first direction;
the push-pull head is configured to be capable of stretching up and down, the push-pull assembly is configured to be connected with the tool to be stored and taken through the push-pull head and then horizontally pull the tool to the bearing table along a first direction, and the storage arm is used for placing the tool on the bearing table at a placement position on the first support structure or the second support structure.
According to some embodiments, further comprising:
the rack body is arranged on the track and can slide along the length direction of the track;
the access platform is arranged at the first access end, the height of the access platform is equal to that of the bearing surface, and the access platform is used for arranging a tool;
wherein, the access frame is arranged at the second access end.
According to some embodiments, further comprising a positioning mechanism, the positioning mechanism comprising:
the rolling assembly is arranged on the bearing surface of the bearing table and used for bearing the tool, and the rolling assembly is configured to generate rolling friction with the tool so that the tool can slide on the bearing table in a plane parallel to the bearing surface;
the limiting assembly comprises a first stop part and a second stop part, the first stop part is arranged on a first side of the bearing table, the second stop part is arranged on a second side of the bearing table opposite to the first side, the second stop part is arranged below the bearing surface and comprises a telescopic rod, and the upper end of the telescopic rod is provided with a telescopic stroke which extends to the upper side of the bearing surface to stop the tool;
wherein, telescopic link and first stop portion are used for the relative both sides of butt frock to carry on spacingly to the frock.
According to some embodiments, the bearing surface is provided with a limiting hole, and the telescopic rod is configured to penetrate through the limiting hole and extend and retract above the bearing surface.
According to some embodiments, the first stopper comprises a first telescopic structure and a stopper, the stopper is disposed on the bearing surface, the first telescopic structure is connected with the stopper, and the first telescopic structure is configured to drive the stopper to move telescopically along a direction from the first side to the second side.
The application provides a storage and taking frame of access robot deposits the frock on coming to first mounting structure and the second mounting structure who lies in both sides through utilizing a storage and taking arm, can so that the storage and taking arm only needs less scope's removal can deposit more frock on the one hand, and on the other hand storage and taking frame's occupation space is also littleer.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings 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 some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic perspective view of an access robot according to an embodiment of the present application;
FIG. 2 is an enlarged partial schematic view of FIG. 1;
FIG. 3 is a schematic top view of an access robot according to an embodiment of the present application;
FIG. 4 is a schematic right view of an access robot according to an embodiment of the present disclosure;
FIG. 5 is a perspective view of an access robot according to one embodiment of the present application with the second mounting structure removed;
FIG. 6 is an enlarged partial schematic view of FIG. 5;
fig. 7 is a schematic perspective view illustrating a transfer device and a tool according to an embodiment of the present application after being combined;
fig. 8 is a first perspective view of a transfer device according to an embodiment of the present application;
fig. 9 is a second perspective view of a transfer device according to an embodiment of the present application;
FIG. 10 is an enlarged partial schematic view of FIG. 9;
fig. 11 is a rear view schematically illustrating a transfer device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The tool jig is an important part in the machining process, tools of various types are required for machining of certain complex equipment, and when the number of the tools is large, the problem that how to quickly and effectively store a plurality of tools needs to be solved urgently is solved.
In view of this, the following provides an access robot, which effectively solves the technical problems of carrying and storing of tools.
Specifically, referring to fig. 1 to 11, the access robot includes an access platform (not shown), a transfer device 100, an access arm 300, and an access rack 200. When the tool 400 is stored, the tool 400 to be stored is placed on the storing and taking table and transferred by the transfer device 100. After the tool 400 on the access platform is pushed up to the transfer device 100, the access arm 300 lifts the tool 400 on the transfer device 100 and puts it into the access rack 200. When the tool 400 is taken out, the tool 400 on the access frame 200 is lifted by the storage arm and placed on the transfer device 100, and then pushed to the access table, so that the tool 400 is taken out.
The access table (not shown) is a table structure on which the tool 400 can be placed, and an operator may use other equipment to place the tool 400 on the access table or to take and use the tool 400 placed on the access table.
The transfer device 100 is disposed beside the access platform and used for picking up the tool 400 on the access platform. Specifically, the transfer device 100 includes a frame 130, a positioning mechanism 110, a picking mechanism 120, and a rail 140. The track 140 includes a first access end and a second access end, and the frame 130 is disposed on the track 140 and can slide along the length direction of the track 140. The access platform is arranged at the first access end, the height of the access platform is equal to that of the bearing surface, and the access platform is used for arranging the tool 400. The access frame 200 and the access arm 300 are both disposed at a second access end of the track 140. When the tool 400 is stored, the transfer device 100 moves to a first access end near the access platform, and after the tool 400 is picked up, the tool 400 moves to a second access end near the access arm 300 and the access rack 200.
The frame 130 may be provided with a driving means so that it can automatically move on the rail 140. Of course, in other embodiments, the frame 130 can be manually pushed to move on the rail 140.
The positioning mechanism 110 includes a bearing platform, a rolling assembly 111 and a limiting assembly. The bearing table, the rolling assembly 111 and the limiting assembly are all disposed on the frame body 130. The bearing table comprises a bearing surface, the bearing table is provided with a first side and a second side which are oppositely arranged, and the tool 400 to be stored and taken is pushed into the bearing table along the direction from the first side to the second side. The direction from the first side to the second side is the direction from the first access end to the second access end of the track 140, which is the first direction. The rolling assembly 111 is disposed on the bearing surface, the rolling assembly 111 is used for bearing the tool 400, and the rolling assembly 111 and the tool 400 generate rolling friction, so that the tool 400 slides to the bearing table in a plane parallel to the bearing surface. The rolling assembly 111 may be embodied as a plurality of rolling balls arranged on a carrier table. After the rolling assembly 111 bears the tool 400, when the tool 400 translates on the rolling assembly 111, the rolling ball rolls, so that the tool 400 can slide in the horizontal direction smoothly. The limiting assembly comprises a first stopping portion 112 and a second stopping portion 113, the first stopping portion 112 is arranged on the first side of the bearing table, the second stopping portion 113 is arranged on the second side of the bearing table, the second stopping portion 113 is arranged below the bearing surface, the second stopping portion 113 comprises an expansion link 121, and the upper end of the expansion link 121 has an expansion stroke which extends to the upper side of the bearing surface to stop the tool 400. Wherein, telescopic link 121 and first backstop portion 112 are used for the relative both sides of butt frock 400 to carry out spacingly to frock 400.
The present application provides a positioning mechanism 110 for a robot, which positions the rear end of a tool 400 through a telescopic rod 121 and positions the front end of the tool 400 through a first stopper 112. Since the first stopper 112 can be extended and contracted, it can be matched with the tools 400 of different sizes. Moreover, the rear end of the tool 400 is positioned by the telescopic rod 121 which can be stretched to the lower part of the bearing table, so that the second stop part 113 cannot block the position of the tool 400, the tool 400 can be conveniently moved into the bearing table, and the tool 400 can be positioned more conveniently and quickly. That is, in the conventional positioning mechanism 110, since the front end of the tool 400 is limited and the rear end of the tool 400 is limited, the stop element necessarily occupies the horizontal moving space of the tool 400, so that the tool 400 cannot be horizontally pushed onto the bearing platform. The telescopic rod 121 in the present application skillfully solves the above problems. However, it should be noted that, in order to accomplish the above actions, the height of the access platform needs to be consistent with the height of the carrier platform, so that the tool 400 can be smoothly pushed onto the carrier platform. In order to adjust the heights of the access table and the loading table, a device capable of adjusting the heights of the access table and the loading table may be provided on the frame 130 or the access table of the transfer device 100.
In this embodiment, the carrying surface is provided with a limiting hole, and the retractable rod 121 is configured to pass through the limiting hole and extend to the upper side of the carrying surface. That is, the second stopping portion 113 may be disposed directly below the susceptor and connected to the frame body 130 of the susceptor or the transit apparatus 100. In order to extend the upper end of the telescopic rod 121 to the upper side of the bearing table, a through hole (i.e., a limiting hole) is formed in the bearing table, and the telescopic rod 121 passes through the limiting hole and extends to the upper end of the bearing table to abut against the tool 400.
The first stopping portion 112 includes a first telescopic structure and a stopping block, the stopping block is disposed on the carrying surface, the first telescopic structure is connected to the stopping block, and the first telescopic structure is configured to drive the stopping block to move telescopically along a direction from the first side to the second side. That is to say, the position of the stopper is changeable, so that the distance between the stopper and the telescopic rod 121 is changeable, and the tool 400 with different sizes can be adapted to the stopper.
The first stopper 112 and the second stopper 113 are used to define the positions of two opposite sides of the tooling 400, and the tooling 400 has four sides, and in order to completely limit the position of the tooling 400, the transfer device 100 may further include a third stopper 114 and a fourth stopper 115. Third stopper 114 is used for abutting the side edge of fixture 400 parallel to the direction from the first side to the second side. And a fourth stopping portion 115 for abutting against a side edge of the tooling 400 parallel to a direction from the first side to the second side. The third stopper 114 and the fourth stopper 115 are used to abut against two opposite sides of the tool 400, and rolling friction is generated between the third stopper 114 and the fourth stopper 115 and the tool 400. Specifically, each of the third stopper 114 and the fourth stopper 115 may include a plurality of bearings arranged along a straight line, so as to realize rolling friction with the tool 400.
In this embodiment, the carrier table includes a first table 1161 and a second table 1162, and the first table 1161 and the second table 1162 are arranged at intervals. The first block 1161 is connected to one first stopper 112, one second stopper 113, and one third stopper 114, and the second block 1162 is connected to one first stopper 112, one second stopper 113, and one fourth stopper 115. The first block 1161 and the second block 1162 are provided with rolling assemblies 111.
When the platform is divided into the first platform 1161 and the second platform 1162, the third stopping portion 114 includes a third rolling portion and a third telescopic portion, the third rolling portion is connected to the third telescopic portion, and the third telescopic portion drives the third rolling portion to move telescopically in a direction approaching to or departing from the fourth stopping portion 115. The fourth stopper 115 includes a fourth rolling portion and a fourth telescopic portion, the fourth rolling portion is connected to the fourth telescopic portion, and the fourth telescopic portion drives the fourth rolling portion to move telescopically in a direction approaching or departing from the third stopper 114. That is, the distance between the third stopper 114 and the fourth stopper 115 may also be adjusted so that it may be adapted to different sizes of the tool 400.
Since rolling friction is formed between the tool 400 and the bearing table, an operator can manually push the tool 400 from the storing and taking table to the bearing table. However, in order to save labor, the transfer device 100 further includes a pick-up mechanism 120 for dragging the tool 400 from the access platform to the carrier platform.
The picking mechanism 120 includes a push-pull assembly disposed between the first block 1161 and the second block 1162, the push-pull assembly includes an automatic driving device 124, a manual driving device 123 and a push-pull head, and the automatic driving device 124 and the manual driving device 123 are both connected to the push-pull head to drive the push-pull head to move along the first direction. The push-pull head is configured to be capable of stretching up and down, and the push-pull assembly is configured to horizontally pull the tool 400 to the bearing table along the first direction after the push-pull head is connected with the tool 400 to be stored and taken. Specifically, after the push-pull head moves to the lower side of the tool 400 of the access platform, the push-pull head extends upwards to be matched with the tool 400, and specifically, the push-pull head is inserted upwards into a hole groove on the tool 400. The automatic driving device 124 can electrically drive the push-pull head to drag the tool 400 to the upper carrier, that is, the automatic driving device 124 drives the push-pull head to move towards the first direction, and at this time, the tool 400 moves along with the push-pull head and is dragged to the upper carrier. The manual driving means 123 may be operated by manually rotating the dial and then driving the push head to move in the first direction. The above-described pusher head may be referred to as a pickup portion, and the automatic driving device 124 and the manual driving device 123 may be referred to as driving portions.
The application provides a structure of picking up of access robot, because it closes push-and-pull subassembly and plummer as an organic whole, and both mutually noninterfere, so the structure is compacter, and is more convenient to the transfer of frock 400. Moreover, the push-pull assembly can actively pull the tool 400 and also can manually control the pulling of the tool 400, so that the precision requirement on the automatic driving device 124 is low, a user can firstly pull the tool 400 to a proper position on the bearing table by using the automatic driving device 124 and then finely adjust the final position of the tool 400 by using the manual driving device 123, and the tool 400 is conveniently positioned.
Specifically, the number of the push-pull heads is two, and a connecting line of the two push-pull heads is perpendicular to the first direction. This enables unknown deflection of the tool 400 during towing by the push-pull head. Further, both the automatic drive 124 and the manual drive 123 simultaneously connect the two push heads to simultaneously drive the two push heads to move in the first direction. That is, two driving devices simultaneously drive a set of push-pull heads. Of course, in other embodiments, the automatic driving device 124 may drive one set of pushers, and the manual driving device 123 may drive one set of pushers.
The push-pull assembly comprises a threaded mechanism 122, a driving motor and a driving rotating wheel, the push-pull head is connected with the threaded mechanism 122 and configured to move along a first direction after the threaded mechanism 122 receives driving force, the driving motor and the driving rotating wheel are both connected with the threaded mechanism 122, and both the driving motor and the driving rotating wheel can output driving force to the threaded mechanism 122. The drive motor is combined with the screw mechanism 122 to form an automatic drive 124 and the drive wheel is combined with the screw mechanism to form a manual drive 123. The screw mechanism 122 may specifically be a nut-screw mechanism, and rotates by driving a nut, so that the nut moves in the length direction of the screw, and the push-pull head is connected with the nut through an intermediate component and then can move along the length direction of the screw along with the nut.
In one embodiment, there may be two screw mechanisms 122, with the automatic drive 124 comprising one screw mechanism 122 and the manual drive 123 also comprising one screw mechanism 122. However, in order to reduce costs, the drive motor and the drive wheel may also be connected together by a screw mechanism 122.
The access frame 200 may include a first mounting structure 210 and a second mounting structure 220. The first support structure 210 includes a plurality of placement locations 230 for storing the tool 400. The second rack structure 220 includes a plurality of placement locations 230 for storing the tool 400, and the second rack structure 220 is disposed opposite to the first rack structure 210. The access arm 300 is disposed between the first frame structure 210 and the second frame structure 220, the access arm 300 includes a driving rail 310 and a moving stage 320, the driving rail 310 is connected to the moving stage 320 and configured to drive the moving stage 320 to move in a vertical direction and a horizontal direction. Wherein the motion stage 320 has a sliding arm 321 for carrying the tool 400, the sliding arm 321 being configured to be slidable in a direction of the first support structure 210 or in a direction of the second support structure 220 to transport the tool 400 to the placement position 230 on the first support structure 210 or the placement position 230 on the second support structure 220. The application provides an access frame 200 of access robot, deposits frock 400 on first mounting structure 210 and the second mounting structure 220 that is located both sides through utilizing an access arm 300, can make access arm 300 only need less scope's removal can access more frock 400 on the one hand, and on the other hand access frame 200's occupation space is also littleer.
The driving rail 310 of the access arm 300 includes a first rail disposed on the ground between the first and second frame structures 210 and 220, and a second rail. The second guide rail is vertically arranged, and the lower end of the second guide rail is connected with the first guide rail and can slide on the first guide rail. The moving table 320 is connected to the second guide rail and can slide up and down on the second guide rail.
To be able to prevent more tooling 400, the first support structure 210 has multiple layers, and each layer of the first support structure 210 has multiple placement locations 230. The second scaffold structure 220 has multiple layers, and each layer of the second scaffold structure 220 has multiple placement locations 230. The layer height of each first scaffold structure 210 and each second scaffold structure 220 is the same.
In order to fix the position of the tool 400 on the sliding support arm 321, a limiting portion capable of extending up and down is arranged on the sliding support arm 321, and the limiting portion is configured to extend upwards and then is connected with a clamping groove in the tool 400 so as to limit the tool 400.
In one embodiment, the length dimension of the first stent structure 210 is greater than the length dimension of the second stent structure 220 in a direction perpendicular to the direction from the first stent structure 210 to the second stent structure 220. A tool 400 placing area is arranged on one side opposite to the first support structure 210, and the tool 400 placing area is arranged on the side of the second support structure 220. The transfer device 100 may be disposed in the placement area of the tool 400. Thus, space may be saved, and access to tool 400 may be facilitated.
In one embodiment, the motion stage 320 includes two sliding arms 321, the two sliding arms 321 being arranged in parallel. Each sliding arm 321 includes an arm rail and a support beam, and the support beam is slidably connected to the arm rail. The arm slide extends from a position near the first frame structure 210 to a position near the second frame structure 220, and the arm slide can slide to a position 230 where it extends into the first frame structure 210 or to a position 230 where it extends into the second frame structure 220.
In one embodiment, the number of the transfer devices 100 may be multiple, that is, one access arm 300 may access the tool 400 on multiple transfer devices 100. One access rack 200 and one access arm 300 simultaneously store two or more tools 400 on the transfer device 100, thereby improving the access efficiency. Meanwhile, the two support structures of the access frame 200 are respectively arranged on two sides of the access arm 300, so that on one hand, the efficiency of the access arm 300 for accessing the tool 400 is improved, and on the other hand, the whole occupied space of the access robot is also reduced.
In order to facilitate the placement of the tool 400 on the access frame 200, a mounting mechanism is further disposed on the access frame 200, and the mounting mechanism includes a first card seat and a second card seat. The first cartridge includes a first inclined plate 240. The second cartridge includes a second inclined plate 250, and the first inclined plate 240 is disposed opposite to the second inclined plate 250. The cushion pad 290 is disposed between the first inclined plate 240 and the second inclined plate 250, and the cushion pad 290 is used for carrying the tool 400. Wherein, from top to bottom, the distance between the first inclined plate 240 and the second inclined plate 250 gradually decreases. The application provides an installation mechanism, through setting up first hang plate 240 and the second hang plate 250 of mutual disposition, and two hang plates interval from top to bottom reduces gradually, make frock 400 when being laid on access frame 200, need not the relative position between accurate regulation frock 400 and the mounting structure, frock 400 can be by the upper end position whereabouts between two hang plates (the upper end interval between two hang plates is greater than the size of frock 400), until the chucking lower extreme between two hang plates, above-mentioned locate mode still makes frock 400 can be fixed a position more stably.
The mounting mechanism further comprises three positioning beams 260, the three positioning beams 260 are arranged in parallel at intervals, and a first clamping seat and a second clamping seat are arranged on the positioning beam 260 in the middle. To provide cushioning for the tool 400, three positioning beams 260 are each provided with a cushion 290.
To enable the revolution to be further limited. The positioning structure further comprises positioning columns 280 and a connecting plate 270, the middle part of the connecting plate 270 is connected with the positioning beam 260, two ends of the connecting plate 270 are respectively provided with the positioning columns 280, and the positioning columns 280 are used for being connected with the tool 400 to limit the tool 400.
The specific storage process of the tool 400 is described below by way of example.
The tool 400 to be stored is placed on the access table. The transfer device 100 moves to the first access end, the pull head extends upward to be matched with the tool 400, and the automatic driving device 124 drives the pull head to move toward the second access end, so as to drive the tool 400 to move horizontally from the access platform to the bearing platform. After the tool 400 is moved to a proper position, the tool 400 may be finely adjusted in position by the manual driving device 123. After the front end of the tool 400 abuts against the first stopper 112, the position of the stopper is moved so that the distance between the stopper and the telescopic rod 121 is equal to the width of the tool 400. The extension rod 121 of the second stopper 113 is extended upward, and the extension rod 121 abuts against the rear end of the tool 400. The third stopper 114 and the fourth stopper 115 are adjusted so that the third stopper 114 and the fourth stopper 115 clamp the tool 400. The driving device on the rack 130 drives the rack 130 to move on the rail 140 to the second access end. Sliding arm 321 on access arm 300 extends below tool 400 and raises tool 400. After the tool 400 moves to the position corresponding to the access frame 200, the sliding arm 321 slides to place the tool 400 at the placement position 230 of the access frame 200. In the above process, a plurality of transfer devices 100 may transfer a plurality of tools 400 at the same time.
For the taking process of the tool 400, the above steps may be performed in reverse, and will not be described in detail herein.
The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present application, it is to be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only for illustrative purposes and are not to be construed as limitations of the present patent, and specific meanings of the above terms may be understood by those skilled in the art according to specific situations.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. An access rack for accessing a robot, comprising:
the first support structure comprises a plurality of placing positions for storing the tools;
the second support structure comprises a plurality of placing positions for storing the tool, and the second support structure is arranged opposite to the first support structure;
the access arm is arranged between the first support structure and the second support structure and comprises a driving guide rail and a motion table, and the driving guide rail is connected with the motion table and is configured to drive the motion table to move in the vertical direction and the horizontal direction;
the moving table is provided with a sliding support arm for bearing the tool, and the sliding support arm is configured to be capable of sliding towards the direction of the first support structure or the direction of the second support structure so as to convey the tool to a placing position on the first support structure or a placing position on the second support structure.
2. Access bay of an access robot as claimed in claim 1,
the first support structure has a plurality of layers, and each layer of the first support structure has a plurality of the placement locations;
the second support structure has a plurality of layers, and each layer of the second support structure has a plurality of the placement locations;
the layer height of each first support structure and each second support structure is the same.
3. The storing and taking rack of a storing and taking robot as claimed in claim 2,
the sliding support arm is provided with a limiting part which can stretch out and draw back up and down, and the limiting part is configured to extend out upwards and then is connected with a clamping groove in the tool, so that the tool is limited.
4. Access bay of an access robot as claimed in claim 3,
a length dimension of the first stent structure is greater than a length dimension of the second stent structure in a direction perpendicular to the direction from the first stent structure toward the second stent structure;
and a tool placing area is arranged on one side opposite to the first support structure, and the tool placing area is arranged at the side of the second support structure.
5. Access bay of an access robot as claimed in claim 4,
the motion platform comprises two sliding support arms which are arranged in parallel;
each sliding support arm comprises a support arm sliding rail and a support beam, and the support beam is connected with the support arm sliding rail in a sliding manner;
the support arm slide rail extends to being close to by being close to first supporting structure's position, the support arm slide rail slidable extremely stretches into first supporting structure's the position of placing or slide to stretching into second supporting structure's the position of placing.
6. An access robot, comprising:
an access frame according to any one of claims 1 to 5;
a pickup mechanism;
wherein the pick-up mechanism comprises:
a frame body;
the bearing table is arranged above the frame body and comprises a first table body and a second table body, and the first table body and the second table body are arranged at intervals;
the push-pull assembly is arranged between the first platform body and the second platform body and comprises an automatic driving device, a manual driving device and a push-pull head, and the automatic driving device and the manual driving device are connected with the push-pull head so as to drive the push-pull head to move along a first direction;
the tool is horizontally pulled to the bearing table along the first direction after the push-pull head is connected with the tool to be stored, and the storing and taking arm is used for placing the tool on the bearing table at a placing position on the first support structure or the second support structure.
7. The access robot of claim 6, further comprising:
the rack body is arranged on the track and can slide along the length direction of the track;
the storing and taking platform is arranged at the first storing and taking end, the height of the storing and taking platform is equal to the height of the bearing surface of the bearing platform, and the storing and taking platform is used for arranging the tool;
wherein, the access frame is arranged at the second access end.
8. The access robot of claim 7, further comprising a positioning mechanism, the positioning mechanism comprising:
the rolling assembly is arranged on the bearing surface of the bearing table and used for bearing the tool, and the rolling assembly is configured to generate rolling friction with the tool so that the tool can slide to the bearing table in a plane parallel to the bearing surface;
the limiting assembly comprises a first stopping part and a second stopping part, the first stopping part is arranged on a first side of the bearing table, the second stopping part is arranged on a second side, opposite to the first side, of the bearing table, the second stopping part is arranged below the bearing surface, the second stopping part comprises a telescopic rod, and the upper end of the telescopic rod extends to the position above the bearing surface to stop the telescopic stroke of the tool;
wherein, the telescopic link with first fender portion is used for the butt the relative both sides of frock, in order to right the frock is spacing.
9. The access robot of claim 8,
the bearing surface is provided with a limiting hole, and the telescopic rod is configured to penetrate through the limiting hole and extend to the upper part of the bearing surface.
10. The access robot of claim 9,
the first stop part comprises a first telescopic structure and a stop block, the stop block is arranged on the bearing surface, the first telescopic structure is connected with the stop block, and the first telescopic structure is configured to drive the stop block to move in a telescopic mode along a direction from the first side to the second side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022054883.8U CN213320158U (en) | 2020-09-18 | 2020-09-18 | Access frame and access robot of access robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022054883.8U CN213320158U (en) | 2020-09-18 | 2020-09-18 | Access frame and access robot of access robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213320158U true CN213320158U (en) | 2021-06-01 |
Family
ID=76064518
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022054883.8U Active CN213320158U (en) | 2020-09-18 | 2020-09-18 | Access frame and access robot of access robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213320158U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114290311A (en) * | 2022-01-26 | 2022-04-08 | 宁波鼎力金属制品有限公司 | Mould placing rack |
-
2020
- 2020-09-18 CN CN202022054883.8U patent/CN213320158U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114290311A (en) * | 2022-01-26 | 2022-04-08 | 宁波鼎力金属制品有限公司 | Mould placing rack |
| CN114290311B (en) * | 2022-01-26 | 2022-09-16 | 宁波鼎力金属制品有限公司 | Mould placing rack |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7333848B2 (en) | Battery exchange mobile workbench and speed exchange system | |
| US20120076631A1 (en) | Feeding device | |
| CN213320158U (en) | Access frame and access robot of access robot | |
| US4509893A (en) | Device for storing and retrieving articles in a shelf stack | |
| CN213084363U (en) | Compact structure's access robot | |
| CN213352444U (en) | Picking mechanism of access robot and access robot | |
| CN213084364U (en) | Positioning mechanism of access robot and access robot | |
| CN213165349U (en) | Mounting structure on access frame, access frame and access robot | |
| CN112093355B (en) | Access robot | |
| JP3063275B2 (en) | Electronic component mounting apparatus and electronic component mounting method | |
| PL232973B1 (en) | Device for adding/removing of a machined workpiece | |
| CN215401237U (en) | Buffer memory type bidirectional up-down device | |
| CN209796496U (en) | Mechanical clamp for taking and placing books and taking and placing device with same | |
| CN110102440A (en) | A kind of point glue equipment | |
| JPH06115615A (en) | Storage | |
| CN112757987B (en) | Intelligent book management robot | |
| TWI617821B (en) | Electronic element testing system | |
| JP4039104B2 (en) | Wafer supply device | |
| JPH08222891A (en) | Self-traveling substrate exchanging robot | |
| CN211336114U (en) | Multipurpose pallet truck | |
| CN217861179U (en) | Intelligent storage cabinet for automatic delivery | |
| CN214651836U (en) | Transfer device | |
| CN110294325B (en) | Substrate transfer device | |
| CN220392577U (en) | Mobile phone accessory feeding and transferring mechanism | |
| CN211496121U (en) | Egg holds in palm with automatic uninstallation and transfer device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |