CN216067519U - Flattening oil drum carrying mechanism and carrying robot thereof - Google Patents
Flattening oil drum carrying mechanism and carrying robot thereof Download PDFInfo
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- CN216067519U CN216067519U CN202122309011.6U CN202122309011U CN216067519U CN 216067519 U CN216067519 U CN 216067519U CN 202122309011 U CN202122309011 U CN 202122309011U CN 216067519 U CN216067519 U CN 216067519U
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Abstract
The utility model discloses a carrying mechanism for flattening oil drums and a carrying robot thereof, wherein the carrying mechanism comprises: the bottom of the first connecting seat is provided with an elastic piece, and the stretching direction of the elastic piece is consistent with the up-down direction; the bottom of the second connecting seat is provided with a permanent magnet jack, the top of the second connecting seat is connected with the lower end of the elastic piece, the permanent magnet jack is provided with a working pole face and a swinging handle for controlling opening and closing, and the working pole face is arranged downwards; and the driving device is arranged on the second connecting seat and is connected with the swinging handle so as to drive the swinging handle to rotate. The transfer robot comprises a manipulator and the transfer mechanism, and the free end of the manipulator is connected with the first connecting seat. The working pole surface of the permanent magnet jack is arranged downwards, and can apply magnetic attraction acting force to the top surface of the oil barrel to be flattened so as to promote the permanent magnet jack to suck the oil barrel to be flattened; the driving device is connected with the swing handle, so that the swing handle can rotate clockwise or anticlockwise automatically, the opening and closing of the permanent magnet jack can be controlled, and the oil barrel can be flattened to be magnetically attracted or released.
Description
Technical Field
The utility model relates to the technical field of carrying equipment, in particular to a carrying mechanism for flattening oil drums and a carrying robot of the carrying mechanism.
Background
Compress the packing with old and useless oil drum through the flatting mill, produce out through handling at last and flatten the oil drum, weight is about 20 kilograms. If the labor form of manual carrying is adopted, not only is a large amount of labor consumed, but also the potential safety hazard that the operating personnel are injured by smashing exists.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a carrying mechanism for flattening an oil drum, which is used for solving one or more technical problems in the prior art.
In addition, the utility model also provides a carrying robot comprising the carrying mechanism for flattening the oil drum.
The technical scheme adopted for solving the technical problems is as follows:
in a first aspect, the present invention provides a handling mechanism for flattening oil drums, comprising: the bottom of the first connecting seat is provided with an elastic piece, and the stretching direction of the elastic piece is consistent with the up-down direction; the bottom of the second connecting seat is provided with a permanent magnet jack, the top of the second connecting seat is connected with the lower end of the elastic piece, the permanent magnet jack is provided with a working pole face and a swing handle for controlling opening and closing, and the working pole face is arranged downwards; and the driving device is arranged on the second connecting seat and is connected with the swinging handle so as to drive the swinging handle to rotate.
The utility model has at least the following beneficial effects: the bottom of the second connecting seat is provided with a permanent magnet jack, and the working pole surface of the permanent magnet jack is arranged downwards and can apply magnetic attraction acting force to the top surface of the oil barrel to be flattened so as to enable the permanent magnet jack to firmly suck the oil barrel to be flattened; the driving device is arranged on the second connecting seat and is connected with the swinging handle, and the swinging handle can automatically rotate clockwise or anticlockwise, so that the opening and closing of the permanent magnet jack can be automatically controlled, and the oil barrel is flattened by magnetic attraction or the magnetic attraction is released; set up the elastic component between first connecting seat and second connecting seat, make the second connecting seat can remove along upper and lower direction first connecting seat relatively, at the permanent magnetism ground jack and the in-process of flattening the top surface butt of oil drum, the elastic component plays better cushioning effect to the second connecting seat.
As a further improvement of the technical scheme, the two permanent magnet jacks are arranged oppositely left and right. Set up two permanent magnetism ground jacks, can increase the magnetic attraction to flattening the oil drum, guarantee that transport mechanism can steadily hold and flatten the oil drum, and two permanent magnetism ground jacks are about relative setting, make and flatten the oil drum atress even.
As a further improvement of the above technical solution, the second connecting seat has a center line extending in an up-down direction, the first connecting seat and the second connecting seat are axisymmetrical with respect to the center line of the second connecting seat, and the two permanent magnet jacks are centrosymmetric with respect to the center line of the second connecting seat; the left side and the right side of first connecting seat all are equipped with the elastic component is located the left elastic component of first connecting seat and the elastic component that is located first connecting seat right side and is central symmetry about the central line of second connecting seat. By the design, the structural symmetry of the conveying mechanism can be increased, and the conveying mechanism is stressed uniformly.
As a further improvement of the above technical scheme, the two driving devices are arranged oppositely in the front and back direction, the two driving devices are centrosymmetric about the central line of the second connecting seat, the driving devices are telescopic cylinders, one ends of the telescopic cylinders are hinged to the second connecting seat, and the other ends of the telescopic cylinders are hinged to the swing handle. Two ends of the telescopic cylinder are respectively hinged with the second connecting seat and the swinging handle, and when a piston rod of the telescopic cylinder extends or shortens, the swinging handle can automatically rotate clockwise or anticlockwise, so that the permanent magnet jack can be automatically opened and closed; two telescopic cylinder are central symmetry setting about the central line of second connecting seat, and when telescopic cylinder moved, increase handling mechanism's atress homogeneity guaranteed that second connecting seat and permanent magnetism ground jack keep the horizontality, make handling mechanism can exert enough big magnetic attraction effort to flattening the oil drum.
As a further improvement of the technical scheme, the device also comprises a middle-sealed electromagnetic valve; the middle sealing type electromagnetic valves are arranged in two and are in central symmetry about the central line of the second connecting seat, and the two middle sealing type electromagnetic valves are respectively connected with the air pipes of the two telescopic air cylinders. Set up two well formula solenoid valves, be connected with two telescopic cylinder's trachea respectively, guarantee that telescopic cylinder keeps stationary state when the outage is cut off gas to prevent to flatten the oil drum and take place to drop in handling, reinforcing handling mechanism's security performance.
As a further improvement of the above technical solution, the elastic member includes a link assembly and a spring, the upper end of the link assembly is connected to the first connecting seat, the lower end of the link assembly is connected to the second connecting seat, and one of the second connecting seat and the first connecting seat can slide up and down relative to the link assembly; the spring is sleeved on the connecting rod assembly, the upper end of the spring is connected with the bottom surface of the first connecting seat, and the lower end of the spring is connected with the top surface of the second connecting seat. The first connecting seat and the second connecting seat are connected through the connecting rod assembly, and the second connecting seat can slide up and down relative to the first connecting seat; the spring is sleeved on the connecting rod assembly, and the second connecting seat can move downwards relative to the first connecting seat and reset by the acting force of the spring.
As a further improvement of the above technical solution, the connecting rod assembly includes a screw rod and a nut, the first connecting seat is provided with a first through hole penetrating up and down, the second connecting seat is provided with a second through hole penetrating up and down, and the screw rod passes through the first through hole and the second through hole and is connected with the nut. The connecting rod assembly comprises a screw rod and a nut, and the screw rod penetrates through the first through hole and the second through hole to be connected with the nut, so that the first connecting seat and the second connecting seat are quickly connected.
As a further improvement of the above technical solution, the carrying mechanism further comprises a photoelectric sensor and a controller; the photoelectric sensor is arranged at the bottom of the second connecting seat, and the photoelectric sensor and the driving device are respectively electrically connected with the controller. Set up the photoelectric sensor who is used for detecting and flattens the oil drum at the second connecting seat, photoelectric sensor and drive arrangement respectively with controller electric connection, when photoelectric sensor detects and flattens the oil drum, permanent magnet jack moves to the position down and with the top surface butt that flattens the oil drum at this moment, photoelectric sensor sends the detected signal who produces to the controller, controller control drive arrangement action, drive arrangement drives swing handle and rotates, impel permanent magnet jack emergence effect, carry out magnetism to flattening the oil drum and inhale, realize the function that transport mechanism is inhaled to flattening the automatic magnetism of oil drum.
As a further improvement of the above technical solution, the photoelectric sensor is a diffuse reflection sensor. And a diffuse reflection sensor is selected, so that the detection distance is long, the response speed is high, the service life is long, and the working efficiency of the carrying mechanism can be improved.
In a second aspect, the utility model provides a transfer robot, which comprises a manipulator and a transfer mechanism for flattening an oil drum, wherein the manipulator is arranged on the oil drum; the free end of the manipulator is connected with the first connecting seat. Drive the motion of transport mechanism through the manipulator, after transport mechanism stable magnetism was inhaled and is flattened the oil drum, will flatten the oil drum and carry elsewhere, realize flattening the automatic handling of oil drum.
Drawings
The utility model is further described with reference to the accompanying drawings and examples;
fig. 1 is a perspective view of a handling mechanism for flattening oil drums according to an embodiment of the present invention;
fig. 2 is a front view of a handling mechanism for flattening oil drums according to an embodiment of the present invention;
fig. 3 is a left side view of the handling mechanism for flattening oil drums according to the embodiment of the present invention.
The drawings are numbered as follows: 100. flattening the oil drum; 200. a first connecting seat; 300. an elastic member; 310. a connecting rod assembly; 320. a spring; 400. a second connecting seat; 410. mounting holes; 500. a permanent magnet jack; 510. swinging a handle; 600. a telescopic cylinder; 700. a middle-sealed electromagnetic valve; 800. a photoelectric sensor.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, if words such as "a plurality" are described, it means one or more, a plurality is two or more, more than, less than, more than, etc. are understood as not including the present number, and more than, less than, etc. are understood as including the present number. If any description to first, second and third is only for the purpose of distinguishing technical features, it is not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
It should be noted that the X direction in the drawings is from the rear side of the handling mechanism for flattening the oil drum to the front side; the Y direction is from the left side of the oil barrel flattening carrying mechanism to the right side; the Z direction is directed to the upper side by the lower side of the carrying mechanism for flattening the oil drum.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1 to 3, several embodiments of the transportation mechanism for flatting oil drums and the transportation robot thereof according to the present invention will be described.
As shown in fig. 1 to 3, an embodiment of the present invention provides a handling mechanism for flattening an oil drum, including: first coupling seat 200, elastic member 300, second coupling seat 400, permanent magnet jack 500, and driving means.
Wherein, the bottom of the second connecting seat 400 is provided with one, two or more than two permanent magnet jacks 500. Permanent magnet jack 500 has the swing handle 510 that the working pole face and control were opened and close, and the working pole face sets up down, opens permanent magnet jack 500 back, and the working pole face can produce great magnetism and inhale the effort, when the top surface contact with flattening oil drum 100, can firmly earth magnetism with flattening oil drum 100 and inhale. The swing handle 510 can be rotated clockwise or counterclockwise, for example, by rotating the swing handle 510 clockwise, the permanent magnet jack 500 can be opened to magnetically attract the oil flattening drum 100; if swing handle 510 is rotated counterclockwise, permanent magnet jack 500 can be closed, and the magnetic attraction effect on flattened oil drum 100 is released.
A driving means may be provided on the second connecting holder 400 by a bolt, and the driving means is connected to the swing handle 510 to rotate the swing handle 510. The driving device can replace a manual mode to control the swing handle 510 to rotate clockwise or counterclockwise, so that the automatic opening and closing control of the permanent magnet jack 500 is achieved. The driving device can be a telescopic cylinder, an electric push rod or a combination of a motor and a link mechanism.
The bottom of the first connecting seat 200 is provided with one, two or more elastic members 300, the extending direction of the elastic members 300 is the same as the up-down direction, and the top of the second connecting seat 400 is connected with the lower end of the elastic members 300. Set up elastic component 300 between first connecting seat 200 and second connecting seat 400, not only couple together first connecting seat 200 and second connecting seat 400, moreover, when permanent magnet jack 500 and the top surface contact of flattening oil drum 100, permanent magnet jack 500 can receive up effort and shift up relatively first connecting seat 200, and elastic component 300 can play the cushioning effect this moment. And, the second connector holder 400 moves down and is restored by the force of the spring 320 and the weight of the second connector holder 400.
Specifically, the elastic member 300 includes a link assembly 310 and a spring 320. The upper end of the connecting rod assembly 310 is connected to the first connecting base 200, the lower end of the connecting rod assembly 310 is connected to the second connecting base 400, and one of the second connecting base 400 and the first connecting base 200 can slide up and down relative to the connecting rod assembly 310. The spring 320 is sleeved on the link assembly 310, the upper end of the spring 320 is connected to the bottom surface of the first connecting seat 200, and the lower end of the spring 320 is connected to the top surface of the second connecting seat 400.
It is understood that one end of the connecting rod assembly 310 may be fixed to the first connecting seat 200 by welding or a nut or a screw structure, and the other end of the connecting rod assembly 310 is provided with a screw structure, and is connected to the screw structure by a nut after passing through the through hole of the second connecting seat 400. The spring 320 is sleeved between the link assemblies 310, and both ends of the spring 320 are respectively abutted against the first connecting seat 200 and the second connecting seat 400 and compressed by the acting force of the first connecting seat 200 and the second connecting seat 400.
In order to facilitate the assembly and disassembly, specifically, the connecting rod assembly 310 includes a screw rod and a nut, the first connecting seat 200 is provided with a first through hole penetrating up and down, the second connecting seat 400 is provided with a second through hole penetrating up and down, and the screw rod penetrates through the first through hole and the second through hole and is connected with the nut. The inner diameters of the first through hole and the second through hole are matched with the diameter of the screw rod, so that the second connecting seat 400 can stably move relative to the first connecting seat 200.
It is understood that the lower end of the screw rod may be provided with a threaded portion to facilitate connection with a nut, thereby enabling the second connecting seat 400 to be connected with the connecting rod assembly 310. The portion of the screw rod between the first and second connection seats 200 and 400 may be a cylinder with a smooth outer circumferential surface, and the inner diameters of the first and second through holes are adapted to the diameter of the cylinder, and the cylinder plays a certain guiding role.
In addition, the elastic member 300 may also be a spring, and one, two or more springs may be disposed, and both ends of the spring are respectively fixed to the first connection seat 200 and the second connection seat 400 through a welding process.
In other embodiments, two permanent magnet jacks 500 are provided and are disposed in a left-right opposing arrangement. The permanent magnet jacks 500 may be fixed to the bottom of the second coupling seat 400 by bolts or welding. Set up two permanent magnetism ground jacks 500, can increase the magnetic attraction to flattening oil drum 100, guarantee that transport mechanism can steadily hold and flatten oil drum 100, and manufacturing cost is lower. In addition, two permanent magnetism jacks 500 are left and right relative setting, make and flatten oil drum 100 atress even.
In other embodiments, the second connecting seat 400 has a center line extending in the up-down direction, and the first connecting seat 200 and the second connecting seat 400 are axially symmetric about the center line of the second connecting seat 400. In this embodiment, the first and second connector holders 200 and 400 are square plates, and their center lines coincide with each other.
The elastic members 300 are disposed on both left and right sides of the first connecting seat 200, and the elastic members 300 located on the left side of the first connecting seat 200 and the elastic members 300 located on the right side of the first connecting seat 200 are centrosymmetric with respect to the center line of the second connecting seat 400. In this embodiment, two elastic members 300 are disposed on the left side of the first connector 200, and two elastic members 300 are disposed on the right side of the first connector 200, that is, four elastic members 300 are disposed in an array, and the four elastic members 300 can be disposed at four corners of the first connector 200 respectively.
The two permanent magnet jacks 500 are centrosymmetric about the center line of the second coupling seat 400.
By adopting the design, the structural symmetry of the carrying mechanism can be increased, and the carrying mechanism is stressed uniformly.
Further, drive arrangement is equipped with two and is relative setting from beginning to end, and two drive arrangement are central symmetry about the central line of second connecting seat 400, and drive arrangement is telescopic cylinder 600, and telescopic cylinder 600's one end articulates in second connecting seat 400, and the other end articulates in swing handle 510. In this embodiment, the piston rod of the telescopic cylinder 600 is hinged to the swing handle 510 through a hinge shaft, the second connecting seat 400 is provided with a hinge seat, and the cylinder portion of the telescopic cylinder 600 is connected to the hinge seat through a hinge shaft.
When the piston rod of the telescopic cylinder 600 is extended or shortened, the swing handle 510 can be automatically rotated clockwise or counterclockwise, thereby realizing the automatic opening and closing of the permanent magnet jack 500.
Two telescopic cylinder 600 are central symmetry setting about the central line of second connecting seat 400, when telescopic cylinder 600 moves, telescopic cylinder 600 that is located second connecting seat 400 front side produces the effort to the right-hand member of second connecting seat 400, telescopic cylinder 600 that is located second connecting seat 400 rear side produces the effort to the left end of second connecting seat 400, so design, can increase handling mechanism's atress homogeneity, guarantee that second connecting seat 400 and permanent magnet jack 500 keep the horizontality, avoid second connecting seat 400 to appear under the common influence of elastic component 300 and telescopic cylinder 600 the condition of height unevenness in the left and right directions, guarantee that two permanent magnet jacks 500 all with the top surface looks butt of flattening oil drum 100, finally make handling mechanism can exert enough big magnetic attraction effort to flattening oil drum 100.
Further, the carrying mechanism further includes a middle-sealed solenoid valve 700 (or middle-sealed solenoid valve). The two middle-sealed electromagnetic valves 700 are arranged and are centrosymmetric about the central line of the second connecting seat 400, which is beneficial to increasing the structural symmetry of the carrying mechanism and making the force applied to the carrying mechanism more uniform.
In the structure of the middle-sealed solenoid valve 700, if both coils are not electrified, the pressure of the front cavity and the rear cavity of the cylinder is kept unchanged after the last coil is electrified, the air inlet is closed, and the air outlet is closed. Two well formula solenoid valves 700 are connected with two telescopic cylinder 600's trachea respectively, can not only control telescopic cylinder 600's the air admission and exhaust, moreover, can also guarantee that telescopic cylinder 600 keeps stationary state when the outage is cut off gas to prevent to flatten oil drum 100 and take place to drop in handling, reinforcing handling mechanism's security performance.
In other embodiments, the handling mechanism further comprises a photosensor 800 and a controller. The controller can be a single chip microcomputer, a PLC controller and the like, and has a simple control function. The photoelectric sensor 800 is arranged at the bottom of the second connecting seat 400, and the photoelectric sensor 800 and the driving device are respectively electrically connected with the controller, so that the transmission of electric signals can be realized. In the present embodiment, the photosensor 800 is a diffuse reflection sensor. The middle part of second connecting seat 400 sets up mounting hole 410, like rectangular hole, and photoelectric sensor 800 passes through the support and establishes in mounting hole 410, and photoelectric sensor 800 can launch detection light beam down.
When permanent magnet jack 500 moves down along with second connecting seat 400, if photoelectric sensor 800 detects and flattens oil drum 100, permanent magnet jack 500 moves down to the right place and with flatten the top surface butt of oil drum 100 this moment, photoelectric sensor 800 sends the detected signal who produces to the controller, controller control drive arrangement moves, drive arrangement drives swing handle 510 and rotates, make permanent magnet jack 500 take effect, carry out magnetism to flattening oil drum 100 and inhale, realize the function that transport mechanism is inhaled to flattening the automatic magnetism of oil drum 100.
In addition, the second embodiment of the utility model provides a transfer robot, which comprises a manipulator and the transfer mechanism for flattening the oil drum, wherein the transfer mechanism is provided with a first oil drum and a second oil drum; the manipulator may be a five-axis or more manipulator, and the free end of the manipulator is connected to the first connecting base 200 by a bolt. Flatten oil drum 100 by the flatting mill compression comes out, carry out stable magnetism to flattening oil drum 100 through transport mechanism, the manipulator drives transport mechanism motion for transport mechanism will flatten oil drum 100 and remove to the appointed region like flattening oil drum roll table position region, rotate through swing handle 510, change the magnetic line of force in the permanent magnetism ground jack 500, make permanent magnetism ground jack 500 and flatten oil drum 100 separately, thereby realize flattening automation, the unmanned of oil drum 100 transport.
The carrying mechanism provided by the embodiment of the utility model is matched with the manipulator, so that the oil barrel 100 can be stably grabbed, a large amount of labor force is saved, the potential safety hazard of smashing injury of operators is solved, and the automation and the unmanned carrying of the oil barrel 100 are realized.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that the present invention is not limited to the details of the embodiments shown and described, but is capable of numerous equivalents and substitutions without departing from the spirit of the utility model as set forth in the claims appended hereto.
Claims (10)
1. The utility model provides a flatten transport mechanism of oil drum which characterized in that includes:
the bottom of the first connecting seat (200) is provided with an elastic piece (300), and the telescopic direction of the elastic piece (300) is consistent with the vertical direction;
the bottom of the second connecting seat (400) is provided with a permanent magnet jack (500), the top of the second connecting seat (400) is connected with the lower end of the elastic piece (300), the permanent magnet jack (500) is provided with a working pole face and a swing handle (510) for controlling opening and closing, and the working pole face is arranged downwards;
the driving device is arranged on the second connecting seat (400) and is connected with the swinging handle (510) so as to drive the swinging handle (510) to rotate.
2. The mechanism for handling oil flattening drums according to claim 1, wherein two permanent magnet jacks (500) are arranged in a left-right opposite manner.
3. The handling mechanism for oil flattening drums according to claim 2, wherein the second connecting seat (400) has a center line extending in the up-down direction, the first connecting seat (200) and the second connecting seat (400) are axially symmetric with respect to the center line of the second connecting seat (400), and the two permanent magnet jacks (500) are centrally symmetric with respect to the center line of the second connecting seat (400); the left side and the right side of the first connecting seat (200) are respectively provided with the elastic piece (300), the elastic piece (300) positioned on the left side of the first connecting seat (200) and the elastic piece (300) positioned on the right side of the first connecting seat (200) are centrosymmetric about the central line of the second connecting seat (400).
4. The mechanism for carrying oil flattening drums according to claim 3, wherein the two driving devices are arranged oppositely in a front-back direction, the two driving devices are in central symmetry about the center line of the second connecting seat (400), the driving devices are telescopic air cylinders (600), one ends of the telescopic air cylinders (600) are hinged to the second connecting seat (400), and the other ends of the telescopic air cylinders are hinged to the swing handles (510).
5. The handling mechanism for flattening oil drums according to claim 4, characterized by further comprising a center-sealed solenoid valve (700); the middle sealing type electromagnetic valves (700) are arranged in two and are in central symmetry about the central line of the second connecting seat (400), and the two middle sealing type electromagnetic valves (700) are respectively connected with the air pipes of the two telescopic air cylinders (600).
6. The handling mechanism for oil barrel flattening of claim 1, characterized in that the elastic member (300) comprises a connecting rod assembly (310) and a spring (320), the upper end of the connecting rod assembly (310) is connected with the first connecting seat (200), the lower end of the connecting rod assembly (310) is connected with the second connecting seat (400), and one of the second connecting seat (400) and the first connecting seat (200) can slide up and down relative to the connecting rod assembly (310); the spring (320) is sleeved on the connecting rod assembly (310), the upper end of the spring (320) is connected with the bottom surface of the first connecting seat (200), and the lower end of the spring (320) is connected with the top surface of the second connecting seat (400).
7. The mechanism for carrying oil flattening drums according to claim 6, wherein the connecting rod assembly (310) comprises a screw and a nut, the first connecting seat (200) is provided with a first through hole which penetrates up and down, the second connecting seat (400) is provided with a second through hole which penetrates up and down, and the screw penetrates through the first through hole and the second through hole and is connected with the nut.
8. The handling mechanism for flattening oil drums according to any one of claims 1 to 7, characterized by further comprising a photoelectric sensor (800) and a controller; the photoelectric sensor (800) is arranged at the bottom of the second connecting seat (400), and the photoelectric sensor (800) and the driving device are respectively electrically connected with the controller.
9. The mechanism of claim 8, wherein the photoelectric sensor (800) is a diffuse reflectance sensor.
10. A transfer robot comprising a robot arm and a transfer mechanism for flattening oil drums according to any one of claims 1 to 9; the free end of the manipulator is connected with the first connecting seat (200).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122309011.6U CN216067519U (en) | 2021-09-23 | 2021-09-23 | Flattening oil drum carrying mechanism and carrying robot thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122309011.6U CN216067519U (en) | 2021-09-23 | 2021-09-23 | Flattening oil drum carrying mechanism and carrying robot thereof |
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| CN216067519U true CN216067519U (en) | 2022-03-18 |
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| CN202122309011.6U Active CN216067519U (en) | 2021-09-23 | 2021-09-23 | Flattening oil drum carrying mechanism and carrying robot thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115108313A (en) * | 2022-07-15 | 2022-09-27 | 蓝思智能机器人(长沙)有限公司 | Coating feeding and discharging machine and coating feeding and discharging method |
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2021
- 2021-09-23 CN CN202122309011.6U patent/CN216067519U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115108313A (en) * | 2022-07-15 | 2022-09-27 | 蓝思智能机器人(长沙)有限公司 | Coating feeding and discharging machine and coating feeding and discharging method |
| CN115108313B (en) * | 2022-07-15 | 2024-04-26 | 蓝思智能机器人(长沙)有限公司 | Coating feeding and discharging machine and coating feeding and discharging method |
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