CN2573618Y - Industrial robot for longitudinally handling automobile - Google Patents
Industrial robot for longitudinally handling automobile Download PDFInfo
- Publication number
- CN2573618Y CN2573618Y CN 02263871 CN02263871U CN2573618Y CN 2573618 Y CN2573618 Y CN 2573618Y CN 02263871 CN02263871 CN 02263871 CN 02263871 U CN02263871 U CN 02263871U CN 2573618 Y CN2573618 Y CN 2573618Y
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- clamping device
- slideway
- industrial robot
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Abstract
The utility model relates to an industrial robot for handling automobiles, which is mainly used for the link of the warehousing of finished products on a production line and an exchanging system of large-scale mechanical three-dimensional parking equipment. The whole robot is flat, and the industrial robot for handling automobiles is formed by that a machine set A which is positioned at the front part of the industrial robot for handling automobiles and a machine set B which is positioned at the back part of the industrial robot for handling automobiles are mutually connected by means of a slideway. Road wheels and clamping mechanisms for clamping wheels of the automobiles are respectively arranged on the machine set A and the machine set B. One end of the slideway is connected with the machine set B, and the other end of the slideway is positioned in a groove which is installed on the machine set A. Rack bars are installed on the slideway. The rack bars are engaged with a gear which is installed on the machine set A, and a brake is arranged on the gear. The automobiles of the finished products can be conveyed to the required positions by using the industrial robot for handling automobiles. When the industrial robot for handling automobiles is installed, additional requirements are not needed to be put forward to civil engineering.
Description
Technical field
The utility model relates to a kind of industrial robot that is used for carrier vehicle, and this robot is mainly used in the finished product warehouse-in link on the auto production line, and in the delivery system of extensive mechanical three-dimensional parking device.
Background technology
Finished product warehouse-in link on the auto production line, the at present domestic form that still adopts the pilot steering warehouse-in.This is the lower car manufactures institute universal mode of daily output.But along with improving constantly of auto output, reach thousand when above as daily output, adopt this form just unrealistic, therefore should seek a kind of end and can automatically finished car be sent to the equipment of specifying warehouse compartment by fixed route, could satisfy modern automobile production beat at production line.
When auto industry was advanced by leaps and bounds, the dynamic traffic in city and static traffic all must be caught up with, otherwise can seriously hinder developing of automobile industry.But at present domestic parking facility and developing of automobile industry are incompatible, although set up some large-scale shutdown systems in the city, the delivery system of its key equipment but still can only adopt traditional pellet type or comb body formula structure.Though these two kinds of junction forms have passed through the operation of long period, but engineers and technicians generally believe and exist certain defective: during the pellet type handing-over, require to buy and sell empty pallet back and forth on program, this is an idle preparation routine, increase each net cycle time, reduced efficient.In the handing-over of comb body formula, because the self structure height of existing fixed comb body and two kinds of comb bodies of movable comb body, must reserve handing-over height and safe altitude again at work, therefore every layer of parking stall will increase the building height of 400 millimeter, improved the civil engineering cost in garage greatly, down below or in the high layer garage, this defective is particularly outstanding.
Summary of the invention
The purpose of this utility model is the industrial robot of a kind of vertical carrier vehicle of design, utilize this robot can easily finished car be transported to the position of requirement, when this robot is installed, need not propose extra requirement to civil engineering etc., thereby be a kind of robot with low cost, easy to use.
Its main technical schemes is that the entire machine people is tabular, utilizes slideway to interconnect with the B of Unit that is positioned at the rear portion to form by being positioned at anterior unit A, road wheel is set respectively on unit A, B and is used for the clamping device of clamping automotive wheel.
One end of slideway is connected with B of Unit, and the other end is positioned at the groove that is installed on the unit A, and tooth bar is installed on slideway, and tooth bar and the gears engaged that is installed on the unit A are provided with brake on gear.
In the both sides of unit A, B 1 group of clamping device is installed respectively, every group of clamping device is made up of two clamping devices that can relatively move.
In each clamping device, an end of turning arm is articulated on the unit, utilizes bearing pin and in-oil cylinder piston rod hinged on turning arm, and the end of oil cylinder is articulated on the unit.
On the turning arm in each clamping device roller bearing is set, roller bearing is arranged in two clamping device opposed inside of one group of clamping device, at the opposite side of turning arm roller is set.
The small-sized hydraulic station is set respectively on unit A, B, and the oil cylinder on the small-sized hydraulic station utilizes pipeline and is connected clamping device is connected.
Lithium battery is installed on B of Unit, and the servomotor on lithium battery utilizes lead and is installed on unit A is connected, and the output shaft of servomotor is connected with gear-box, and the output of gear-box is connected with the road wheel of robot.
The utility model has the advantages that and install that because overall structure is a tabular, shared space is fewer, when mounted, civil engineering is not had specific (special) requirements, can additionally not take the garage clear height with easy to use; Secondly, this device can be realized automatic management after various sensors and micro processor have been installed, avoided manual trouble, therefore is particularly suitable for the use in large-scale garage.
Description of drawings
Fig. 1 is a structure chart of the present utility model.
Fig. 2 is the state diagram of this device when the lifting automobile.
Fig. 3 is the working plan of this device.
The specific embodiment
As shown in the figure: entire machine people is tabular, utilizes slideway 13 to interconnect with the B of Unit that is positioned at the rear portion to form by being positioned at anterior unit A, road wheel 2 is set respectively on unit A, B and is used for the clamping device of clamping automotive wheel.Front end at unit A, B is installed walking mechanism, adopts the servomotor 4 with pulling figure to be power, and each motor 4 drags 8 road wheels 2 separately by gear-box 3, and road wheel 2 is formed running gear with supporting roller 17.Staggered form was arranged before and after road wheel and supporting roller were all done, therefore unit A, B have the ability of steadily crossing the handling system safety ditch crack that is not more than 50 millimeters, the servomotor of pulling figure disposes built-in rotary encoder, therefore its travel distance can be carried out by the internal storage data and the host computer instruction of terminal computer, and its setting accuracy can reach ± and 10 millimeters.
One end of slideway 13 is connected with B of Unit, the other end is positioned at the C shape groove 14 that is installed on the unit A, and can in C shape groove, slide, therefore, the relative position of unit A, B can rely on running gear and the walking of terminal computer 9 instruction separately and change, till the wheel shaft centrally aligned of its 4 pairs of turning arm centers and automobile.Tooth bar 15 is installed on slideway 13, and tooth bar 15 and gear 22 engagements that are installed on the unit A are provided with brake 23 on gear 22.When brake was braked, the relative position of unit A, B just was fixed, and when automobile is lifted away from ground like this, can reliably and stably walk.
In the both sides of unit A, B 1 group of clamping device is installed respectively, entire machine people has 4 groups of clamping devices, every group of clamping device partnered by two clamping devices that can relatively move, in each clamping device, one end of turning arm 5 is articulated on the unit, on turning arm 5, utilize the piston rod in bearing pin and the oil cylinder 7 hinged, the end of oil cylinder 7 is articulated on the unit, on the turning arm 5 in each clamping device roller bearing 6 is set, roller bearing 6 is arranged in two clamping device opposed inside of one group of clamping device, at the opposite side of turning arm 5 roller 16 is set.During work, each turning arm 5 all relies on oil cylinder 7 to do 90 degree revolutions, and the position that turning arm contacts with doughnut is a roller bearing 6, thereby guarantees that turning arm can be lifted away from ground with doughnut with less chucking power.Operating distance between each group turning arm is a certain value, can between 180 millimeters to 280 millimeters, change, and at the position that turning arm contacts with ground one group of small-sized iron core Polyurethane roller 16, when being used for industrial robot load walking, avoid unbalance usefulness.
Small-sized hydraulic station 8 is set respectively on unit A, B, oil cylinder 7 on small-sized hydraulic station 8 utilizes pipeline and is connected clamping device is connected, lithium battery 18 is installed on B of Unit, this lithium battery relies on the collector plate that is installed on the unit base plate, carries out floating charge in the time of getting back to the start position of handling system in robot.Servomotor 4 on lithium battery 18 utilizes lead and is installed on unit A is connected, and the output shaft of servomotor 4 is connected with gear-box 3, and the output of gear-box 3 is connected with the road wheel of robot 2.The actuating signal at small-sized hydraulic station 8 is from terminal computer 9 and relay group 10, after unit A, B accurately are positioned wheel shaft center, automobile front and back, each turning arm is action successively by setup program, and by pressure transmitter 11, sensor 12 signal feedback that action puts in place is confirmed to terminal computer.
The work order of this robot is from host computer, getting in touch between robot and the host computer then relies on wireless communication module 19, the command content of host computer is warehouse compartment address and operation property, rely on airborne laser range finder 20 simultaneously, the real time data that laser locator 21 and rotary encoder provide is analyzed comparison, to finish functions such as its location, crashproof, fine motion.
Fig. 2 has represented that robot works in the direction recess on ground, and the width of groove is less than 1000 millimeters.The left and right wheels of automobile is not wait between 1250 millimeters to 1600 millimeters apart from the center, thus robot can be in groove walking freely.In the end of unit A, B side guide wheel 24 has been installed, with the operating attitude that guarantees that it is correct.
Fig. 3 is a working state figure.Wherein the C position is a holding state;
The D position is the state diagram after the right side turning arm on the unit A stretches;
The E position enters the automobile below for robot, after the turning arm that has stretched touches automotive wheel 25, and the state diagram after the turning arm on right side has also stretched on the B of Unit;
The F position is the state diagram when also touching automotive wheel 25 of turning arm that the position of B of Unit is adjusted to its stretching, extension;
The G position is that another turning arm on unit A, the B all stretches, and automobile is lifted away from the state diagram on ground.
Claims (7)
1, the industrial robot of vertical carrier vehicle, it is characterized in that the entire machine people is tabular, utilize slideway (13) to interconnect with the unit (B) that is positioned at the rear portion to form by being positioned at anterior unit (A), road wheel (2) is set respectively on unit (A), (B) and is used for the clamping device of clamping automotive wheel.
2, robot according to claim 1, an end that it is characterized in that slideway (13) is connected with unit (B), the other end is positioned at the groove (14) that is installed on the unit (A), tooth bar (15) is installed on slideway (13), tooth bar (15) and gear (22) engagement that is installed on the unit (A) are provided with brake (23) on gear (22).
3, robot according to claim 1 is characterized in that in the both sides of unit (A), (B) 1 group of clamping device being installed respectively, and every group of clamping device is made up of two clamping devices that can relatively move.
4, robot according to claim 1 is characterized in that in each clamping device an end of turning arm (5) is articulated on the unit, utilizes the piston rod in bearing pin and the oil cylinder (7) hinged on turning arm (5), and the end of oil cylinder (7) is articulated on the unit.
5, according to claim 1 or 3 described robots, it is characterized in that on the turning arm (5) in each clamping device roller bearing (6) being set, roller bearing (6) is arranged in two clamping device opposed inside of one group of clamping device, at the opposite side of turning arm (5) roller (16) is set.
6, robot according to claim 1 is characterized in that small-sized hydraulic station (8) is set respectively on unit (A), (B), and the oil cylinder (7) on small-sized hydraulic station (8) utilize pipeline and are connected clamping device is connected.
7, robot according to claim 1, it is characterized in that going up installation lithium battery (18) at unit (B), servomotor (4) on lithium battery (18) utilizes lead and is installed on unit (A) is connected, the output shaft of servomotor (4) is connected with gear-box (3), and the output of gear-box (3) is connected with the road wheel (2) of robot.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02263871 CN2573618Y (en) | 2002-08-19 | 2002-08-19 | Industrial robot for longitudinally handling automobile |
| CN 03132001 CN1238229C (en) | 2002-08-19 | 2003-07-07 | Industrial robot capalbe of moving automobile longitudinally |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02263871 CN2573618Y (en) | 2002-08-19 | 2002-08-19 | Industrial robot for longitudinally handling automobile |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2573618Y true CN2573618Y (en) | 2003-09-17 |
Family
ID=33730172
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 02263871 Expired - Fee Related CN2573618Y (en) | 2002-08-19 | 2002-08-19 | Industrial robot for longitudinally handling automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2573618Y (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101915003A (en) * | 2010-04-21 | 2010-12-15 | 北京航天汇信科技有限公司 | Robot clamping carrier |
| CN102080461A (en) * | 2010-12-29 | 2011-06-01 | 缪慰时 | Vehicle transporting manipulator adopting gear-type clamping mechanism |
| CN101375220B (en) * | 2006-01-31 | 2012-08-22 | Abb法国公司 | Method of driving a robotized workstation and corresponding robotized workstation |
| CN102889013A (en) * | 2012-10-23 | 2013-01-23 | 宁夏博金特立体泊车设备有限公司 | Rapid automobile clamping arm and three-dimensional garage hidden type automobile taker using same |
| DE102004061283B4 (en) * | 2003-12-19 | 2014-03-20 | China International Marine Containers (Group) Co., Ltd. | Dolly and parking system using a dolly |
| CN105715089A (en) * | 2016-01-30 | 2016-06-29 | 安徽鸿路钢结构(集团)股份有限公司 | Driving-in and alignment device of stereo garage |
| CN105822117A (en) * | 2016-03-29 | 2016-08-03 | 中建地下空间有限公司 | Tire-holding automobile carrier |
| CN106382035A (en) * | 2016-10-20 | 2017-02-08 | 温州燧人智能科技有限公司 | X clamping arm type vehicle moving robot in intelligent parking garages |
| CN108360881A (en) * | 2018-02-02 | 2018-08-03 | 浙江德清华杨科技有限公司 | A kind of stereo garage and access method equipped with robot |
-
2002
- 2002-08-19 CN CN 02263871 patent/CN2573618Y/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102004061283B4 (en) * | 2003-12-19 | 2014-03-20 | China International Marine Containers (Group) Co., Ltd. | Dolly and parking system using a dolly |
| CN101375220B (en) * | 2006-01-31 | 2012-08-22 | Abb法国公司 | Method of driving a robotized workstation and corresponding robotized workstation |
| CN101915003A (en) * | 2010-04-21 | 2010-12-15 | 北京航天汇信科技有限公司 | Robot clamping carrier |
| CN101915003B (en) * | 2010-04-21 | 2012-07-11 | 北京航天汇信科技有限公司 | Robot clamping carrier |
| CN102080461A (en) * | 2010-12-29 | 2011-06-01 | 缪慰时 | Vehicle transporting manipulator adopting gear-type clamping mechanism |
| CN102889013A (en) * | 2012-10-23 | 2013-01-23 | 宁夏博金特立体泊车设备有限公司 | Rapid automobile clamping arm and three-dimensional garage hidden type automobile taker using same |
| CN102889013B (en) * | 2012-10-23 | 2014-09-24 | 宁夏博金特立体泊车设备有限公司 | Rapid automobile clamping arm and three-dimensional garage hidden type automobile taker using same |
| CN105715089A (en) * | 2016-01-30 | 2016-06-29 | 安徽鸿路钢结构(集团)股份有限公司 | Driving-in and alignment device of stereo garage |
| CN105822117A (en) * | 2016-03-29 | 2016-08-03 | 中建地下空间有限公司 | Tire-holding automobile carrier |
| CN106382035A (en) * | 2016-10-20 | 2017-02-08 | 温州燧人智能科技有限公司 | X clamping arm type vehicle moving robot in intelligent parking garages |
| CN106382035B (en) * | 2016-10-20 | 2019-01-18 | 温州燧人智能科技有限公司 | A kind of X-type clamping-arm intelligent parking garage Yi Che robot |
| CN108360881A (en) * | 2018-02-02 | 2018-08-03 | 浙江德清华杨科技有限公司 | A kind of stereo garage and access method equipped with robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |