CN218144348U - Truss robot is supporting with chain feed bin - Google Patents

Abstract

The utility model relates to a truss robot is supporting with chain feed bin belongs to the feed bin field, and it includes frame and pay-off platform, and the pay-off platform sets up in the frame, and the pay-off bench is equipped with the track that is used for carrying the work piece, and the pay-off bench is equipped with the locating component who is used for confirming two adjacent work piece distances. This application is through locating component for two adjacent removal keep at a determining deviation between the seat, make things convenient for the arm to snatch the work piece comparatively accurately, thereby improved the pay-off precision of feed bin.

Description

Truss robot is supporting with chain feed bin

Technical Field

The application relates to the field of storage bins, in particular to a chain type storage bin matched with a truss robot.

Background

The storage bin is a storage device for storing materials or workpieces and then conveying the materials or the workpieces to a processing device.

In the related art, in the process of conveying workpieces by a storage bin, all the workpieces abut against each other, and when the workpieces move to a preset position, the mechanical arm grabs the workpieces so as to process the workpieces.

Aiming at the related technologies, the inventor considers that in the working process of the storage bin, the distance between two adjacent workpieces is small, when the mechanical arm clamps the workpieces, the workpieces are easy to collide with the adjacent workpieces, the accuracy of clamping the workpieces by the mechanical arm is reduced, and the defect of feeding precision intersection of the storage bin is caused.

SUMMERY OF THE UTILITY MODEL

In order to improve the pay-off precision of feed bin, this application provides a truss robot is supporting with chain feed bin.

The application provides a pair of truss robot is supporting with chain feed bin adopts following technical scheme:

the utility model provides a truss robot is supporting with chain feed bin, includes frame and pay-off platform, the pay-off platform sets up in the frame, the last track that is used for carrying the work piece that is equipped with of pay-off platform, the last locating component who is used for confirming two adjacent work piece distances that is equipped with of pay-off platform.

By adopting the technical scheme, in the engineering that the feed bin is used, the workpiece moves along the track, when the workpiece moves to the positioning assembly, the positioning assembly determines the distance between two adjacent workpieces, so that the subsequent mechanical arm can conveniently grab the workpiece at the corresponding position, the accuracy of grabbing the workpiece by the mechanical arm is improved, and the feeding precision of the feed bin is improved.

Preferably, the rail is connected with a plurality of moving seats in a sliding manner, and each moving seat is correspondingly provided with a workpiece;

the positioning assembly comprises a positioner and a detector which is arranged oppositely, the positioner and the detector which is arranged oppositely are arranged on the feeding table, a plurality of positioning plates matched with the positioner are arranged on the movable seat, and the movable seat is arranged between the detectors which are arranged oppositely.

Through adopting the above technical scheme, operating personnel places the work piece on removing the seat, remove the removal seat again, when removing the seat and remove to locator department, the locating plate blocks the output of locator, adjacent removal seat this moment is located between the relative detector that sets up, the realization is to the affirmation of distance between two adjacent removal seats, thereby realize the affirmation to two adjacent work piece distances, whether the detector detects the removal seat again has the work piece, so that follow-up arm clamp gets the work piece, under the cooperation of locator and detector, the degree of accuracy that the work piece was got to the arm clamp has been improved, thereby the pay-off precision of feed bin has been improved.

Preferably, one side of the moving seat close to the feeding table is connected with a plurality of balls in a rolling manner, and the balls are abutted to the feeding table.

Through adopting above-mentioned technical scheme, at the in-process that removes the seat and remove, the ball rolls for sliding friction between removal seat and the pay-off platform becomes rolling friction, has reduced the frictional force between removal seat and the pay-off platform, has reduced the long-time and pay-off platform friction of removal seat and has produced the possibility of loss simultaneously.

Preferably, the feeding table is provided with oppositely arranged guide plates, the oppositely arranged guide plates are arranged on two sides of the guide ring, the positioner is arranged on the guide plates, and the oppositely arranged detectors are respectively arranged on two sides of the guide plates.

Through adopting above-mentioned technical scheme, the drive assembly drive moves the seat and moves along track, when moving the seat and remove between the relative deflector, moves the seat and contacts with the deflector, and the deflector provides further injecing for the position of moving the seat this moment for the position of moving the seat is more accurate, provides convenience for follow-up arm grabbing tool, thereby has further improved the pay-off precision of feed bin.

Preferably, the track is arranged in a concave shape.

Through adopting above-mentioned technical scheme, more removal seats can be placed to the track of "concave" style of calligraphy, deposits more work pieces for the feed bin and provides convenience, has reduced the number of times that operating personnel supplyed the work piece in to the feed bin to the pay-off efficiency of feed bin has been improved.

Preferably, one side that the pay-off platform deviates from and removes the seat is equipped with drive assembly, drive assembly includes driving motor, drive gear, driving chain and a plurality of driven gear, driving motor sets up the one side that deviates from and removes the seat at the pay-off platform, drive gear coaxial fixation is on driving motor's output, and a plurality of driven gear all rotates to be connected in the one side that the pay-off platform deviates from and removes the seat, and is a plurality of driven gear sets up respectively in orbital corner, the driving chain around establish on drive gear and a plurality of driven gear and with drive gear and a plurality of driven gear engaged with, be equipped with a plurality of connecting rods on the driving chain, it is a plurality of all correspond the connecting rod on the removal seat and seted up the connecting hole, the connecting rod extends to in the connecting hole and offsets tightly with the inner wall of connecting hole.

Through adopting above-mentioned technical scheme, when needs are to the material loading, operating personnel starts driving motor, and driving motor starts to drive gear and rotates, and drive gear rotates and drives the driving chain and rotate, and the driving chain rotates and drives driven gear and rotate and the connecting rod removes, and the connecting rod removes and drives the removal seat and remove, provides convenience for the removal that removes the seat.

Preferably, a plurality of the moving seats are provided with clamping structures for fixing a workpiece, each clamping structure comprises a first rotating shaft, a second rotating shaft and a pair of clamping jaws, each moving seat is provided with a first clamping groove and a second clamping groove, the first rotating shaft is rotatably connected to the first clamping groove, the second rotating shaft is rotatably connected to the second clamping groove, the pair of clamping jaws are respectively fixed to the first rotating shaft and the second rotating shaft, and the clamping jaws are matched with the workpiece;

the moving seat is provided with a stepping groove, the stepping groove is connected with a bearing seat used for placing workpieces in a sliding mode, a first gear is coaxially fixed on the first rotating shaft, a second gear is coaxially fixed on the second rotating shaft, racks are arranged on two sides of the bearing seat, the stepping groove is communicated with the first clamping groove and the second clamping groove, the racks extend into the first clamping groove and the second clamping groove, and the first gear and the second gear are meshed with the racks.

Through adopting above-mentioned technical scheme, when operating personnel placed the work piece on removing the seat, the work piece drives and accepts the tank bottom removal of seat orientation groove of stepping down, it removes and drives the tank bottom removal of rack orientation groove to accept the seat, the rack drives first gear and second gear revolve, first gear drives first pivot and rotates, the second gear drives the second pivot and rotates, first pivot and second pivot rotate and drive the clamping jaw and remove towards the work piece, when accepting the seat and remove to the tank bottom in groove of stepping down, the clamping jaw offsets tightly with the outer wall of work piece, in order to accomplish the fixed to the work piece, make the work piece difficult and remove the seat emergence separation at the in-process that removes, make things convenient for follow-up arm to snatch the work piece when removing the seat and removing between the relative detector, thereby the pay-off precision of feed bin has been improved.

Preferably, be equipped with the detaching assembly who is used for separating clamping jaw and work piece on the deflector, detaching assembly includes mounting panel and first detaching plate, the mounting panel has been seted up along vertical direction near one side of removing the seat and has been dismantled the groove, first detaching plate sliding connection is in dismantling the groove, be equipped with the spring between first detaching plate and the dismantlement groove, first pivot is extended to remove seat and coaxial fixed with the second detaching plate.

Through adopting above-mentioned technical scheme, when removing the seat and removing to mounting panel department, the second is dismantled the board and is contradicted mutually with first dismantlement board, first dismantlement board drives the second and dismantles the board and rotate towards the one side of keeping away from the mounting panel, the second is dismantled the board and is rotated and drive first pivot and rotate, first pivot is rotated and is driven the clamping jaw and rotate towards the direction of keeping away from the work piece, first gear rotation drives the rack and moves towards the direction of keeping away from the tank bottom of the groove of stepping down simultaneously, thereby make and accept the seat and move towards the direction of keeping away from the tank bottom of the groove of stepping down, it stretches out the groove of stepping down to accept the seat and drive the work piece, make things convenient for the arm to snatch the work piece, thereby the pay-off efficiency of feed bin has been improved.

In summary, the present application includes at least one of the following beneficial technical effects:

by arranging the positioning assembly, in the working process of the storage bin, the positioning assembly determines the distance between the adjacent moving seats, so that the possibility of collision between the mechanical arm and a workpiece on the adjacent moving seat when the mechanical arm subsequently grabs the workpiece is reduced, the mechanical arm can conveniently grab the workpiece at the corresponding position, and the feeding precision of the storage bin is improved;

by arranging the guide plate, when the movable seat moves to the positioning assembly, the guide plate provides further limit for the position of the movable seat, so that the feeding precision of the storage bin is further improved;

through setting up the tight structure of clamp, when operating personnel placed the work piece on removing the seat, press from both sides tight structure and provide spacingly for the work piece is difficult for with remove the separation of seat for the work piece has reduced the work piece and has taken place the shell possibility of separation with removing the seat at the in-process of transportation.

Drawings

FIG. 1 is a schematic overall structure diagram of a first embodiment of the present application;

FIG. 2 is an enlarged schematic view of portion A of FIG. 1;

FIG. 3 is a schematic structural diagram for illustrating the position of a driving assembly in accordance with one embodiment of the present application;

FIG. 4 is a schematic overall structure diagram of a second embodiment of the present application;

FIG. 5 is an enlarged schematic view of the portion B of FIG. 4;

fig. 6 is a schematic structural diagram for showing a positional relationship between the clamping structure and the workpiece according to the embodiment of the present application.

Description of reference numerals: 1. a frame; 2. a feeding table; 21. a track; 22. a protective grid; 23. a guide plate; 3. a positioning assembly; 31. a positioner; 32. a detector; 4. a movable seat; 41. a ball bearing; 42. positioning a plate; 43. connecting holes; 44. a first clamping groove; 45. a second clamping groove; 46. a yielding groove; 47. a bearing seat; 471. a rack; 5. a workpiece; 6. a drive assembly; 61. a drive motor; 62. a drive gear; 63. a driven gear; 64. a drive chain; 65. a connecting rod; 7. a clamping structure; 71. a first rotating shaft; 711. a first gear 72, a second rotating shaft; 721. a second gear; 73. a clamping jaw; 8. disassembling the assembly; 81. mounting a plate; 811. disassembling the groove; 812. a spring; 82. a first stripper plate; 821. a first guide surface; 83. a second knock-down plate; 831. a second guide surface.

Detailed Description

The present application is described in further detail below with reference to figures 1-6.

The embodiment of the application discloses a chain type stock bin matched with a truss robot. Referring to fig. 1, a chain type storage bin matched with a truss robot comprises a rack 1 and a feeding table 2, wherein the feeding table 2 is fixed on the rack 1, a track 21 for conveying workpieces 5 is arranged on the feeding table 2, a positioning assembly 3 for determining the distance between two adjacent workpieces 5 is arranged on the feeding table 2, and a mechanical arm for grabbing the workpieces 5 is erected on the side face of the rack 1. When the workpieces 5 move to the positioning component 3, the positioning component 3 determines the distance between two adjacent workpieces 5, and the mechanical arm grabs the workpieces 5 at the corresponding positions, so that the mechanical arm is not easy to collide with the adjacent workpieces 5 when grabbing the workpieces 5, the accuracy of grabbing the workpieces 5 by the mechanical arm is improved, and the feeding precision of the storage bin is improved.

Referring to fig. 1 and 2, there are a plurality of removal seats 4 on the track 21, and every removes and has all correspondingly placed a work piece 5 on the seat 4, remove one side roll connection a plurality of balls 41 that seat 4 is close to pay-off platform 2, and ball 41 offsets with pay-off platform 2, ball 41 makes the sliding friction between removal seat 4 and the pay-off platform 2 become rolling friction, has reduced the frictional force between removal seat 4 and the pay-off platform 2, thereby has reduced the possibility of the emergence wearing and tearing between removal seat 4 and the pay-off platform 2.

Referring to fig. 1, a protective grid 22 is fixed on the feeding table 2, and in the working process of the storage bin, the protective grid 22 provides protection for operators, so that the possibility of injury to the operators caused by separation of the workpiece 5 from the movable seat 4 is reduced.

Referring to fig. 1, the rail 21 is designed in a concave shape, and the concave rail 21 is convenient for storing more movable seats 4, so that the stock bin stores more workpieces 5, the frequency of supplementing the workpieces 5 to the stock bin by an operator is reduced, and the feeding efficiency of the stock bin is improved.

Referring to fig. 2 and 3, a driving assembly 6 is arranged on one side of the feeding table 2, which is far away from the movable seats 4, the movable seats 4 are connected with the driving assembly 6, guide plates 23 which are oppositely arranged are fixed on the feeding table 2, and the guide plates 23 which are oppositely arranged are fixed on two sides of the track 21; a plurality of removal seats 4 all pass through between the deflector 23 of relative setting to inconsistent with the deflector 23 of relative setting, and locating component 3 sets up in deflector 23 department.

When feed bin during operation, operating personnel starts drive assembly 6, and drive assembly 6 drives and removes seat 4 and remove, and when removing seat 4 and remove 23 departments to the deflector, locating component 3 provides spacingly for removing the position of seat 4, and deflector 23 provides further spacingly for removing seat 4, has improved the arm and has snatched the degree of accuracy of work piece 5 to the feeding precision of feed bin has been improved.

Referring to fig. 2, the positioning assembly 3 includes a positioner 31 and oppositely disposed detectors 32, the positioner 31 is fixed on the guide plate 23, the oppositely disposed detectors 32 are respectively disposed on two sides of the oppositely disposed guide plate 23, and a positioning plate 42 matched with the positioner 31 is fixed on each movable seat 4.

In the working process of the storage bin, the driving assembly 6 drives the movable seats 4 to move, when the movable seats 4 move to the positioners 31, the positioning plate 42 blocks the positioners 31, each movable seat 4 stops moving, and at the moment, the adjacent movable seats 4 are located between the opposite detectors 32 to determine the distance between the two adjacent movable seats 4, so that the possibility that the mechanical arm collides with the adjacent workpieces 5 when grabbing the workpieces 5 is reduced; the detector 32 detects the workpiece 5 on the movable seat 4, and when the workpiece 5 is on the movable seat 4, the mechanical arm grabs the workpiece 5, so that the possibility that the mechanical arm performs grabbing actions when no workpiece 5 exists on the movable seat 4 is reduced, the accuracy of the mechanical arm grabbing the workpiece 5 is improved, and the feeding precision of the storage bin is further improved.

Referring to fig. 2 and 3, the driving assembly 6 includes a driving motor 61, a driving gear 62 and a plurality of driven gears 63, the driving motor 61 is fixed on one side of the feeding table 2 away from the moving seat 4, the driving gear 62 is coaxially fixed on an output end of the driving motor 61, the plurality of driven gears 63 are rotatably connected to one side of the feeding table 2 away from the moving seat 4, the plurality of driven gears 63 are respectively arranged at corners of the track 21, a driving chain 64 is wound around the outer sides of the driving gear 62 and the plurality of driven gears 63, and the driving gear 62 and the plurality of driven gears 63 are engaged with the driving chain 64; a plurality of connecting rods 65 are fixed on the driving chain 64, a connecting hole 43 is formed in each movable seat 4 corresponding to the connecting rod 65, and the connecting rods 65 extend into the corresponding connecting holes 43 and are abutted against the inner walls of the connecting holes 43.

In the in-process of feed bin work, operating personnel starts driving motor 61, driving motor 61 drives drive gear 62 and rotates, drive gear 62 rotates and drives driving chain 64 and rotate, driving chain 64 rotates and drives driven gear 63 and rotate, driving chain 64 drives connecting rod 65 and moves simultaneously, connecting rod 65 moves and drives the removal seat 4 that corresponds and removes, conveniently remove seat 4 and remove to locator 31 department, adjacent removal seat 4 is located between the detector 32 of relative setting this moment, the arm takes out work piece 5 again, for the feed bin pay-off provides convenience.

The implementation principle of the first embodiment of the present application is as follows: when the storage bin is used, an operator starts the driving assembly 6, the driving assembly 6 drives the movable seat 4 to move, when the movable seat 4 moves to the positioner 31, the positioning plate 42 blocks the positioner 31, and at the moment, the adjacent movable seats 4 are positioned between the oppositely arranged detectors 32 to determine the distance between the adjacent movable seats 4, so that a subsequent mechanical arm can more accurately grab the workpiece 5; meanwhile, the guide plate 23 provides further limit for the position of the movable seat 4, the accuracy of grabbing the workpiece 5 by the mechanical arm is further improved, and the feeding precision of the storage bin is further improved.

Example two:

referring to fig. 4 and 5, the difference from the first embodiment is that: the clamping structures 7 for fixing the workpiece 5 are arranged on the movable seats 4, each clamping structure 7 comprises a first rotating shaft 71, a second rotating shaft 72 and a pair of clamping jaws 73, the movable seat 4 is provided with a first clamping groove 44 and a second clamping groove 45, the first rotating shaft 71 is rotatably connected in the first clamping groove 44, the second rotating shaft 72 is rotatably connected in the second clamping groove 45, the pair of clamping jaws 73 are respectively fixed on the first rotating shaft 71 and the second rotating shaft 72, and the clamping jaws 73 are matched with the workpiece 5.

Referring to fig. 5 and 6, an abdicating groove 46 is formed in the movable seat 4, a bearing seat 47 for placing the workpiece 5 is slidably connected in the abdicating groove 46, the abdicating groove 46 is communicated with the first clamping groove 44 and the second clamping groove 45, a first gear 711 is coaxially fixed on the first rotating shaft 71, a second gear 721 is coaxially fixed on the second rotating shaft 72, a rack 471 is fixed on the bearing seat 47, and the rack 471 extends into the first clamping groove 44 and the second clamping groove 45 respectively and is meshed with the first gear 711 and the second gear 721.

When an operator places a workpiece 5 on the moving seat 4, the workpiece 5 drives the bearing seat 47 to move towards the bottom of the abdicating groove 46, the bearing seat 47 drives the rack 471 to move towards the bottom of the abdicating groove 46, the rack 471 then drives the first gear 711 and the second gear 721 to rotate, the first gear 711 drives the first rotating shaft 71 to rotate, the second gear 721 drives the second rotating shaft 72 to rotate, the first rotating shaft 71 and the second rotating shaft 72 rotate to enable the clamping jaw 73 to move towards the workpiece 5, when the bearing seat 47 is inconsistent with the bottom of the abdicating groove 46, the clamping jaw 73 clamps the workpiece 5, at the moment, the clamping jaw 73 provides a limit for the position of the workpiece 5, so that the workpiece 5 is not easy to separate from the moving seat 4 in the moving process of the moving seat 4, convenience is provided for a subsequent mechanical arm to grab the workpiece 5, and the feeding precision of the storage bin is improved.

Referring to fig. 5 and 6, the guide plate 23 is provided with a detaching assembly 8 for separating the clamping jaw 73 from the workpiece 5, the detaching assembly 8 comprises a mounting plate 81 and a first detaching plate 82, a detaching groove 811 is formed in one side of the mounting plate 81 close to the feeding table 2 along the vertical direction, the first detaching plate 82 is slidably connected in the detaching groove 811, a spring 812 is connected between the first detaching plate 82 and the detaching groove 811, and the spring 812 provides tension for the first detaching plate 82, so that the first detaching plate 82 is not easy to extend out of the detaching groove 811 completely; the first shaft 71 extends out of the movable base 4 and is coaxially fixed with a second dismounting plate 83 which is matched with the first dismounting plate 82.

In the process that the movable seat 4 moves to the adjacent detector 32, the second detaching plate 83 abuts against the first detaching plate 82, the first detaching plate 82 drives the second detaching plate 83 to rotate towards the direction away from the mounting plate 81, and at this time, the spring 812 is in a compressed state; the second disassembly plate 83 rotates to drive the first rotating shaft 71 to rotate, the first rotating shaft 71 rotates to drive the clamping jaw 73 to rotate towards the direction away from the workpiece 5, the first rotating shaft 71 rotates to drive the first gear 711 to rotate, the first gear 711 rotates to drive the rack 471 to move towards the tank bottom away from the yielding groove 46, meanwhile, the bearing seat 47 moves towards the direction away from the tank bottom of the yielding groove 46, the bearing seat 47 drives the workpiece 5 to extend out of the yielding groove 46, convenience is provided for the manipulator to grab the workpiece 5, and therefore the workpiece 5 is conveniently conveyed by the storage bin.

Referring to fig. 5 and 6, a first guide surface 821 is arranged on the first detaching plate 82, a second guide surface 831 matched with the first guide surface 821 is arranged on the second detaching plate 83, when the first detaching plate 82 contacts with the second detaching plate 83, the first guide surface 821 is contacted with the second guide surface 831, so that the first detaching plate 82 drives the second detaching plate 83 to rotate, when the first guide surface 821 contacts with the second guide surface 831, the possibility of damage caused by collision between the first detaching plate 82 and the second detaching plate 83 is reduced, and the service lives of the first detaching plate 82 and the second detaching plate 83 are prolonged.

The implementation principle of the second embodiment of the present application is as follows: when an operator places a workpiece 5 on the moving seat 4, the workpiece 5 drives the bearing seat 47 to move towards the bottom of the abdicating groove 46, the bearing seat 47 drives the rack 471 to move, the rack 471 moves to drive the first gear 711 and the second gear 721 to rotate, the first gear 711 drives the first rotating shaft 71 to rotate, the first rotating shaft 71 drives the clamping jaw 73 on the first rotating shaft 71 to move towards the workpiece 5, the second gear 721 drives the second rotating shaft 72 to rotate, the second rotating shaft 72 drives the clamping jaw 73 on the second rotating shaft 72 to move towards the workpiece 5, when the bearing seat 47 is in contact with the bottom of the abdicating groove 46, the clamping jaw 73 is in contact with the workpiece 5, so as to reinforce the connection between the workpiece 5 and the moving seat 4, reduce the possibility that the workpiece 5 is separated from the moving seat 4 in the transportation process, and improve the feeding efficiency of the storage bin.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims (8)

1. The utility model provides a truss robot is supporting with chain feed bin which characterized in that: the automatic feeding device comprises a rack (1) and a feeding table (2), wherein the feeding table (2) is arranged on the rack (1), a track (21) for conveying workpieces (5) is arranged on the feeding table (2), and a positioning assembly (3) for determining the distance between every two adjacent workpieces (5) is arranged on the feeding table (2).

2. The chain type storage bin matched with the truss robot as claimed in claim 1, wherein: the rail (21) is connected with a plurality of moving seats (4) in a sliding manner, and a workpiece (5) is correspondingly placed on each moving seat (4);

locating component (3) are including locator (31) and relative detector (32) that sets up, locator (31) and relative detector (32) that set up all set up on pay-off platform (2), and are a plurality of all be equipped with on removal seat (4) with locator (31) matched with locating plate (42), a plurality of removal seat (4) are all between detector (32) through relative setting.

3. The chain type storage bin matched with the truss robot as claimed in claim 2, wherein: one side of the moving seat (4) close to the feeding table (2) is connected with a plurality of balls (41) in a rolling mode, and the balls (41) are abutted to the feeding table (2).

4. The chain type storage bin matched with the truss robot as claimed in claim 2, wherein: the feeding table (2) is provided with guide plates (23) which are arranged oppositely, the guide plates (23) which are arranged oppositely are arranged on two sides of the guide ring, the positioner (31) is arranged on the guide plates (23), and the detectors (32) which are arranged oppositely are respectively arranged on two sides of the guide plates (23).

5. The chain type storage bin matched with the truss robot as claimed in claim 2, wherein: the track (21) is arranged in a concave shape.

6. The chain type storage bin matched with the truss robot as claimed in claim 5, wherein: one side that pay-off platform (2) deviate from to remove seat (4) is equipped with drive assembly (6), drive assembly (6) include driving motor (61), drive gear (62), drive chain (64) and a plurality of driven gear (63), driving motor (61) set up the one side that deviates from to remove seat (4) at pay-off platform (2), drive gear (62) coaxial fixation is on the output of driving motor (61), and a plurality of driven gear (63) all rotate to be connected in one side that pay-off platform (2) deviate from to remove seat (4), and is a plurality of driven gear (63) set up the corner at track (21) respectively, drive chain (64) are around establishing on drive gear (62) and a plurality of driven gear (63) and with drive gear (62) and a plurality of driven gear (63) mesh mutually, be equipped with a plurality of connecting rod (65) on drive chain (64), and a plurality of all correspond connecting rod (65) on removing seat (4) and seted up connecting hole (43), connecting rod (65) extend to in connecting hole (43) and with the inner wall counterbalance tightly.

7. The chain type storage bin matched with the truss robot as claimed in claim 4, wherein: the clamping structures (7) for fixing the workpiece (5) are arranged on the moving seats (4), each clamping structure (7) comprises a first rotating shaft (71), a second rotating shaft (72) and a pair of clamping jaws (73), a first clamping groove (44) and a second clamping groove (45) are formed in each moving seat (4), the first rotating shaft (71) is rotatably connected into the first clamping groove (44), the second rotating shaft (72) is rotatably connected into the second clamping groove (45), the pair of clamping jaws (73) are respectively fixed on the first rotating shaft (71) and the second rotating shaft (72), and the clamping jaws (73) are matched with the workpiece (5);

offer groove of stepping down (46) on removing seat (4), sliding connection has the accepting seat (47) that is used for placing work piece (5) in groove of stepping down (46), coaxial fixed has first gear (711) on first pivot (71), coaxial fixed has second gear (721) on second pivot (72), the both sides of accepting seat (47) all are equipped with rack (471), groove of stepping down (46) is linked together with first clamping groove (44) and second clamping groove (45), rack (471) extends to in first clamping groove (44) and the second clamping groove (45), first gear (711) and second gear (721) all mesh with rack (471).

8. The chain type storage bin matched with the truss robot as claimed in claim 7, wherein: be equipped with on deflector (23) and be used for separating dismantlement subassembly (8) of clamping jaw (73) and work piece (5), dismantlement subassembly (8) are including mounting panel (81) and first dismantlement board (82), dismantling groove (811) has been seted up along vertical direction to one side that mounting panel (81) are close to removal seat (4), first dismantlement board (82) sliding connection is in dismantling groove (811), be equipped with spring (812) between first dismantlement board (82) and dismantlement groove (811), first pivot (71) are extended to remove seat (4) and coaxial the being fixed with second dismantlement board (83).

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