CN106586537B - Three-axis load transferring and discharging device - Google Patents
Three-axis load transferring and discharging device Download PDFInfo
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- CN106586537B CN106586537B CN201611217899.8A CN201611217899A CN106586537B CN 106586537 B CN106586537 B CN 106586537B CN 201611217899 A CN201611217899 A CN 201611217899A CN 106586537 B CN106586537 B CN 106586537B
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- 238000007599 discharging Methods 0.000 title abstract description 10
- 230000033001 locomotion Effects 0.000 claims abstract description 13
- 230000000712 assembly Effects 0.000 claims description 21
- 238000000429 assembly Methods 0.000 claims description 21
- 230000003014 reinforcing effect Effects 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 6
- 238000000926 separation method Methods 0.000 claims description 4
- 238000001816 cooling Methods 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000000903 blocking effect Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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Abstract
A three-axis load-carrying feeding and discharging device comprises a rack, an XYZ three-axis driving device, a clamping device and a battery jig; the XYZ three-axis driving device is erected above the rack; the battery jig is fixedly arranged on the rack through a positioning pin and is positioned below the XYZ three-axis driving device; the clamping device is arranged on the XYZ three-axis driving device and is driven by the XYZ three-axis driving device to do linear motion along the directions of an X axis, a Y axis and a Z axis; the clamping device consists of a plurality of clamping components; each clamping assembly is arranged at intervals through a spacing device; the clamping assembly comprises a clamping finger cylinder, two clamping pieces and a connecting seat; the fixed end of the clamping finger cylinder is connected with the connecting seat; the two clamping pieces are respectively and symmetrically connected to the moving end of the clamping finger cylinder and are driven and controlled by the clamping finger cylinder to complete the clamping action; the three-axis load-transferring loading and unloading device has the characteristics of high load-transferring speed, good adjustability, high clamping precision and efficiency, and good overall stability and continuity.
Description
Technical Field
The invention relates to the technical field of battery production equipment, in particular to a three-axis transfer loading and unloading device.
Background
The battery is an indispensable power energy in daily life and industrial production, and the demand is very large, so that the production efficiency is an important influence factor of the benefit of battery production enterprises; in the production line of battery processing, after the battery is placed in a high-temperature oven for baking, the battery needs to be carried to a battery cooling logistics line for cooling, and in the process of carrying, the battery is usually carried manually, and is taken out from the oven and placed on the battery cooling logistics line in sequence, but the temperature of the battery is often high, the manual carrying easily causes scalding, the process is complicated, the efficiency is low, and a large amount of manpower and material resources are consumed; the existing improved battery conveying equipment is complex in structure, and has clumsy operation movement for a manipulator structure, small movement space and flexibility for feeding and discharging batteries, low transfer speed, poor controllability, unstable clamping effect on the batteries, low clamping and positioning precision, poor stability, low efficiency, high failure rate and low safety performance.
Disclosure of Invention
The invention aims to provide a three-axis shifting loading and unloading device which is high in shifting speed, good in controllability, high in clamping precision and efficiency and good in overall stability and continuity.
In order to achieve the purpose, the invention adopts the following technical scheme:
a three-axis transfer loading and unloading device comprises a rack, an XYZ three-axis driving device, a clamping device and a battery jig; the XYZ three-axis driving device is erected above the rack; the battery jig is fixedly arranged on the rack through a positioning pin and is positioned below the XYZ three-axis driving device; the clamping device is arranged on the XYZ three-axis driving device and is driven by the XYZ three-axis driving device to do linear motion along the directions of an X axis, a Y axis and a Z axis;
the clamping device consists of a plurality of clamping components; each clamping assembly is arranged at intervals through a spacing device; the clamping assembly comprises a clamping finger cylinder, two clamping pieces and a connecting seat; the fixed end of the clamping finger cylinder is connected to the connecting seat; the two clamping pieces are respectively and symmetrically connected to the moving end of the clamping finger cylinder, and the clamping action is completed through the driving control of the clamping finger cylinder.
Further explaining, the XYZ three-axis drive device includes two X-axis slides, a Y-axis slide, and a Z-axis slide; the two X-axis sliding parts are respectively and horizontally erected on two sides above the rack; sliding plates are arranged at two ends of the Y-axis sliding part and are connected to the sliding rail of the X-axis sliding part in a sliding manner, so that the Y-axis sliding part can slide along the X-axis direction; the Z-axis sliding piece is provided with a first sliding part and a second sliding part, and the first sliding part is arranged on the sliding rail of the Y-axis sliding piece in a sliding mode and slides along the Y-axis direction; the second sliding part is connected with the fixed sliding block on the side surface of the first sliding part through a sliding rail on the side surface of the second sliding part, and slides in the Z-axis direction relative to the first sliding part through the sliding rail; the bottom of the second sliding part is connected to the connecting seat of the clamping assembly.
Further, the spacing device is arranged at the bottom of the second sliding part and comprises a fixed seat, a sliding seat and a servo motor; the fixed seat is fixedly connected with a connecting seat of one clamping assembly, the rest clamping assemblies are arranged on the sliding seat at intervals through the connecting seats, the servo motor drives the clamping assemblies to move along the direction of the sliding seat, and the distance between the clamping assemblies is adjusted.
Further, the sliding seat is provided with two parallel sliding rails, and two ends of a connecting seat of the clamping assembly arranged on the sliding seat are correspondingly connected to the two sliding rails through connecting sliding blocks; two the equal vertical separation blade that sets up in the terminal outside of slide rail, the inside perpendicular extension of the side at separation blade end is provided with the baffle, the baffle towards one side of centre gripping subassembly still is provided with the cushion.
Further, the clamping piece comprises an L-shaped sliding piece, a clamping arm and a positioning piece, the sliding end of the L-shaped sliding piece is connected to a sliding block at the lower end of the clamping finger cylinder, and the sliding block can move along a sliding groove at the bottom of the clamping finger cylinder so as to drive the L-shaped sliding piece to move;
the clamping arm is fixedly arranged on the outer side of the clamping end of the L-shaped sliding piece, the fixed end of the positioning piece is connected to the inner side of the clamping end of the L-shaped sliding piece, and an angle between the positioning end of the positioning piece and the clamping arm is a right angle; the clamping arms of the two clamping pieces in the same clamping assembly are driven by the L-shaped sliding piece to move relatively to finish clamping action.
Further, a rubber pad is arranged on the lower end face of the positioning end of the positioning piece, and the distance between the lower end face of the rubber pad and the tail end of the clamping arm accounts for more than 1/2 of the length of the whole clamping arm.
Further, a rubber pad is arranged between every two clamping assemblies and is fixedly arranged on the connecting seat of any one of the clamping assemblies.
Further, the clamping device is provided with more than two detachable clamping assemblies.
Further, a reinforcing plate is arranged on one side of the clamping finger cylinder, the reinforcing plate extends downwards to a position between the L-shaped sliding piece of the clamping piece and the positioning piece, and a detection device is arranged at the tail end of the reinforcing plate.
Further, the inner side of the clamping arm is provided with a concave-convex pattern hole or a concave-convex pattern.
The invention has the beneficial effects that: 1. the three-axis transfer mode is adopted, the battery transfer device is suitable for carrying batteries in a transfer large range, the movement space and flexibility of charging and discharging of the batteries are increased, the transfer speed is higher, the adjustability and controllability are good, and the transportation stability is good;
2. the clamping device controls the clamping action of the clamping piece through the clamping finger cylinder, and has the advantages of simple and sensitive structure, high clamping precision and high clamping degree;
3. the clamping device also realizes the joint operation of a plurality of clamping components through the spacing device, the clamping and transferring efficiency is greatly improved, and the time for loading, unloading and transferring is shortened; the distance between the detection components can be more accurately controlled through the regulation and control of the spacing device, the positioning precision is high, and the problem that the distances between a battery feeding point and a battery discharging point are not uniform is solved;
4. the battery jig is fixed on the rack through the positioning pins, uniformity of positions on the rack is guaranteed when the battery jig is used for loading the battery, the problem that the accuracy and the continuity of clamping of the clamping device are affected due to the deviation of the positions of the battery jig is avoided, the fault rate is low, the safety performance is good, and the overall stability is higher.
Drawings
Fig. 1 is a schematic structural view of a three-axis transfer loading and unloading device according to an embodiment of the present invention;
fig. 2 is a schematic partial structure view of a loading and unloading device with three-axis transfer according to an embodiment of the present invention;
fig. 3 is a partial structural schematic view of a loading and unloading device with three-axis transfer according to an embodiment of the present invention;
fig. 4 is a schematic structural view of a clamping device of a three-axis transfer loading and unloading device according to an embodiment of the present invention;
fig. 5 is a schematic structural view of a clamping device of a loading and unloading device with three-axis transfer according to an embodiment of the present invention;
wherein: the device comprises a rack 1, an XYZ three-axis driving device 2,X axis sliding piece 21, a Y axis sliding piece 22, a sliding plate 221, a Z axis sliding piece 23, a first sliding part 231, a second sliding part 232, a clamping device 3, a clamping assembly 33, a clamping finger cylinder 331, a clamping piece 332, a connecting seat 333, an L-shaped sliding piece 334, a clamping arm 335, a positioning piece 336, a battery jig 4, a spacing device 5, a fixed seat 51, a sliding seat 52, a servo motor 53, a sliding rail 521, a sliding block 6, a rubber pad 7, a blocking piece 81, a baffle 82, a reinforcing plate 9 and a detection device 10.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
As shown in fig. 1, a loading and unloading device with three-axis transfer comprises a frame 1, an XYZ three-axis driving device 2, a clamping device 3 and a battery jig 4; the XYZ three-axis driving device 2 is erected above the rack 1; the battery jig 4 is fixedly arranged on the rack 1 through a positioning pin and is positioned below the XYZ three-axis driving device 2; the clamping device 3 is arranged on the XYZ three-axis driving device 2 and is driven by the XYZ three-axis driving device 2 to do linear motion along the directions of an X axis, a Y axis and a Z axis;
as shown in fig. 4 and 5, the clamping device 3 is composed of a plurality of clamping assemblies 33; each clamping assembly 33 is arranged at intervals through the spacing device 5; the clamping component 33 comprises a clamping finger cylinder 331, two clamping pieces 332 and a connecting seat 333; the fixed end of the clamping finger cylinder 331 is connected to the connecting seat 333; the two clamping members 332 are respectively and symmetrically connected to the moving end of the finger clamping cylinder 331, and the clamping action is completed through the driving control of the finger clamping cylinder 331.
The invention provides a three-axis moving loading and unloading device, which mainly solves the problems of high difficulty and low efficiency in cooling, loading and transplanting high-temperature batteries, wherein the clamping device 3 can do linear motion in the X-axis, Y-axis and Z-axis directions through the XYZ three-axis driving device 2, meanwhile, a plurality of clamping assemblies 33 in the clamping device 3 can simultaneously and sequentially clamp and move the batteries in the battery jig 4, and the batteries are transported to the other end of a production line for cooling treatment, so that the function of more accurately and rapidly transporting the batteries in the battery jig 4 to a battery cooling material flow line is realized, the loading and unloading range of the battery jig 4 is adapted, the moving speed and the production and transportation efficiency are improved, and the production beat is effectively shortened.
The invention adopts a three-axis transfer mode, adapts to the carrying of the battery in a transfer large range, increases the movement space and flexibility of the charging and discharging of the battery, and has faster transfer speed, good adjustability and good transportation stability; the clamping device 3 independently controls the clamping action of the clamping piece 232 through the clamping finger cylinder, and has the advantages of simple and sensitive structure, high clamping precision and high clamping degree;
the clamping device 3 also realizes the common operation of a plurality of clamping components 33 through the spacing device 5, the clamping and transferring efficiency is greatly improved, and the time for loading, unloading and transferring is shortened; the spacing between the clamping assemblies 33 can be adjusted and controlled more accurately by adjusting and controlling the spacing device 5, the positioning precision is high, and the problem that the spacing between a battery feeding point and a battery discharging point is not uniform is solved; will battery tool 4 will be fixed in through the locating pin in the frame, ensure that battery tool 4 is in when battery material loading the uniformity of position in the frame has avoided the skew of battery tool 4 position and has influenced the degree of accuracy and the continuity of clamping device 3, the fault rate is low, and the security performance is good, and overall stability is higher.
To explain further, as shown in fig. 2, the XYZ triaxial drive device 2 includes two X axis slides 21, a Y axis slide 22, and a Z axis slide 23; the two X-axis sliding parts 21 are respectively and horizontally erected on two sides above the rack 1; sliding plates 221 are arranged at two ends of the Y-axis sliding part 22, and the sliding plates 221 are slidably connected to the sliding rails of the X-axis sliding part 21, so that the Y-axis sliding part 22 can slide along the X-axis direction;
the Z-axis slider 23 is provided with a first sliding portion 231 and a second sliding portion 232, and the first sliding portion 231 is slidably disposed on the slide rail of the Y-axis slider 22 and slides along the Y-axis direction; the second sliding part 232 is connected to the fixed slider on the side of the first sliding part 231 by a slide rail on the side thereof, and slides in the Z-axis direction relative to the first sliding part 231 through the slide rail; the bottom of the second sliding portion 232 is connected to the connecting seat 333 of the clamping member 33.
The X-axis slide 21 and the Y-axis slide 22 mainly regulate and control the lateral displacement positioning of the clamping device 3, and the Z-axis slide 23 controls the longitudinal displacement of the clamping device 3, wherein the clamping device 3 slides along the Y-axis direction and the Z-axis direction by the synchronous movement and the relative movement of the first sliding part 231 and the second sliding part 232 in the Z-axis slide 23, so that the structure is simpler, the transfer speed is high, and the positioning accuracy is high.
To explain further, as shown in fig. 3, the spacing device 5 is disposed at the bottom of the second sliding portion 232, and the spacing device 5 includes a fixed seat 51, a sliding seat 52 and a servo motor 53; the fixed seat 51 is fixedly connected with a connecting seat 333 of one of the clamping assemblies 33, and the other clamping assemblies 33 are respectively arranged on the sliding seat 52 at intervals through the connecting seat 333, and the servo motor 53 drives the clamping assemblies 33 to move along the direction of the sliding seat 52, so as to adjust the distance between the clamping assemblies 33.
Because the distance between each clamping component and the distance between the arrangement positions of the batteries in the battery jig 4 can generate deviation in the moving process of the clamping device 3, the invention mainly adopts the spacing device 5, wherein the fixed base 51 and the sliding seat 52 are taken as bases, so that the clamping components 33 are respectively fixed at the upper ends of the clamping components, and the servo motor 53 is used for automatically adjusting the distance between each clamping component, namely, the distance between the batteries and the distance on a cooling material flow line for placing the batteries are detected in real time by a detection device in the charging and discharging process of the batteries, so that the distance between each clamping component is adjusted in time; therefore, the spacing device 5 can not only enable the clamping components to be arranged at intervals to clamp a plurality of batteries simultaneously, but also realize the function of variable distance through the servo motor 53, so that the problem that the distances between the battery taking points and the battery discharging points are not uniform is solved, the clamping precision is higher, the working continuity is strong, and the clamping effect is more stable; in addition, one of the clamping components 33 is fixedly connected, and the fine distance adjusting process can be used as a reference, so that the adjustment and control are faster, more accurate and more convenient.
Further, the slide seat 52 is provided with two parallel slide rails 521, and two ends of the connecting seat 333 of the clamping assembly 33 arranged on the slide seat 52 are correspondingly connected to the two slide rails 521 through connecting slide blocks; the outer sides of the tail ends of the two slide rails 521 are both vertically provided with a blocking plate 81, the side edge of the tail end of the blocking plate 81 extends inwards and vertically to be provided with a baffle plate 82, and one side, facing the clamping assembly 33, of the baffle plate 82 is further provided with a rubber pad 7.
The sliding seat 52 is provided with two sliding rails which are parallel to each other, so that the stability of the clamping component 33 sliding above the sliding seat is further enhanced; blocking pieces and inward and vertically extending baffle plates are arranged on the outer sides of the tail ends of the two sliding rails 521, so that the clamping assembly 33 is limited to the maximum extent, the clamping assembly 33 is prevented from falling off, and the safety performance is improved; still through set up on the baffle 82 cushion 7, cushion 7's effect is the buffering that targets in place, has further reduced the collision dynamics of centre gripping subassembly 33 when the displacement prolongs its life, and overall structure is simple, and the effect is good.
Further, the clamping member 332 comprises an L-shaped sliding member 334, a clamping arm 335 and a positioning member 336, a sliding end of the L-shaped sliding member 334 is connected to a sliding block 6 at a lower end of the clamping finger cylinder 331, and the sliding block 6 can move along a sliding slot at the bottom of the clamping finger cylinder 331 so as to drive the L-shaped sliding member 334 to move;
the clamping arm 335 is fixedly arranged at an outer side of a clamping end of the L-shaped sliding member 334, a fixed end of the positioning member 336 is connected to an inner side of the clamping end of the L-shaped sliding member 334, and an angle between a positioning end of the positioning member 336 and the clamping arm 335 is a right angle;
the clamping arms 335 of the two clamping members 332 in the same clamping assembly 33 are driven by the L-shaped sliding member 334 to move relatively, so as to complete the clamping operation. The clamping finger cylinders 331 respectively control the sliding of the two L-shaped sliding pieces 334 to drive the corresponding clamping arms 335 to move relatively, so as to clamp the battery; and still set up the setting element 336 has played the effect that reachs the location centre gripping for when pressing from both sides tight battery, carry out the high location effectively, avoid the high condition such as the height of battery differs and lead to rocking and drop, realized the dynamics of clamping to two directions of battery stable, the precision is more accurate.
Further, a rubber pad 7 is disposed on a lower end surface of the positioning end of the positioning member 336, and a distance between the lower end surface of the rubber pad 7 and the end of the clamping arm 335 is more than 1/2 of the length of the whole clamping arm. The positioning member 336 is provided with the rubber pad 7 so as to play an effective limiting and in-place buffering role and reduce the abrasion and collision force to the battery; in addition, a certain distance is ensured between the lower end face of the rubber mat 7 and the tail end of the clamping arm 335, so as to ensure the stability of the clamping arm 335 for clamping the battery and avoid the condition of falling off and shaking in the midway due to overlong or overlong short.
Further, a rubber pad 7 is disposed between each two of the clamping assemblies 33, and the rubber pad 7 is fixedly disposed on the connecting seat 333 of any one of the clamping assemblies 33. And rubber pads 7 are arranged between the clamping components 33, so that the clamping components 33 are buffered and protected in the moving process.
Further, the clamping device 3 is provided with more than two detachable clamping assemblies 33. According to the needs of actual work, set up a plurality ofly centre gripping subassembly 33 presss from both sides a plurality of batteries simultaneously and gets to effectively improve the efficiency to battery centre gripping upper and lower unloading, the precision is high.
Further, a reinforcing plate 9 is further disposed on one side of the clamping finger cylinder 331, the reinforcing plate 9 extends downward to a position between the L-shaped sliding member 334 of the clamping member 332 and the positioning member 336, and a detecting device 10 is disposed at a tail end of the reinforcing plate 9. Because the movement dimensions of the clamping device are more, in order to ensure the overall stability of the clamping device, the reinforcing plate 9 is arranged on one side of the clamping finger cylinder 331, on one hand, each clamping component is separated, and the stability of the movement of the clamping piece 332 driven by the clamping finger cylinder 331 is ensured; on the other hand, by arranging the detection device, the clamping condition of the battery can be effectively detected, when one of the clamping conditions is not completely clamped, an alarm is given, and the safety performance is high.
Further, the inner side of the holding arm 335 is provided with a concave-convex hole or a concave-convex stripe. The inboard of centre gripping arm 335 sets up unsmooth line hole or unsmooth strip, the increase frictional force between centre gripping arm 335 and the battery to improve the stability to the battery centre gripping, avoid dropping and destroy the battery.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.
Claims (6)
1. The utility model provides a last unloader that triaxial moved and carries which characterized in that: the device comprises a rack, an XYZ three-axis driving device, a clamping device and a battery jig; the XYZ three-axis driving device is erected above the rack; the battery jig is fixedly arranged on the rack through a positioning pin and is positioned below the XYZ three-axis driving device; the clamping device is arranged on the XYZ three-axis driving device and is driven by the XYZ three-axis driving device to do linear motion along the directions of an X axis, a Y axis and a Z axis;
the clamping device consists of a plurality of clamping components; each clamping assembly is arranged at intervals through a spacing device; the clamping assembly comprises a clamping finger cylinder, two clamping pieces and a connecting seat; the fixed end of the clamping finger cylinder is connected to the connecting seat; the two clamping pieces are respectively and symmetrically connected to the moving end of the clamping finger cylinder, and the clamping action is completed through the driving control of the clamping finger cylinder;
the XYZ three-axis driving device comprises two X-axis sliding pieces, a Y-axis sliding piece and a Z-axis sliding piece; the two X-axis sliding parts are respectively and horizontally erected on two sides above the rack; sliding plates are arranged at two ends of the Y-axis sliding part and are connected to the sliding rail of the X-axis sliding part in a sliding manner, so that the Y-axis sliding part can slide along the X-axis direction;
the Z-axis sliding piece is provided with a first sliding part and a second sliding part, and the first sliding part is arranged on the sliding rail of the Y-axis sliding piece in a sliding mode and slides along the Y-axis direction; the second sliding part is connected with the fixed slide block on the side surface of the first sliding part through a slide rail on the side surface of the second sliding part, and slides in the Z-axis direction relative to the first sliding part through the slide rail; the bottom of the second sliding part is connected with a connecting seat of the clamping assembly;
the spacing device is arranged at the bottom of the second sliding part and comprises a fixed seat, a sliding seat and a servo motor; the fixed seat is fixedly connected with a connecting seat of one clamping assembly, the other clamping assemblies are arranged on the sliding seat at intervals through the connecting seats of the other clamping assemblies respectively, the servo motor drives the clamping assemblies to move along the direction of the sliding seat, and the distance between the clamping assemblies is adjusted;
the clamping piece comprises an L-shaped sliding piece, a clamping arm and a positioning piece, the sliding end of the L-shaped sliding piece is connected to a sliding block at the lower end of the clamping finger cylinder, and the sliding block can move along a sliding groove at the bottom of the clamping finger cylinder so as to drive the L-shaped sliding piece to move;
the clamping arm is fixedly arranged on the outer side of the clamping end of the L-shaped sliding piece, the fixed end of the positioning piece is connected to the inner side of the clamping end of the L-shaped sliding piece, and an angle between the positioning end of the positioning piece and the clamping arm is a right angle;
the clamping arms of two clamping pieces in the same clamping assembly are driven by the L-shaped sliding piece to move relatively to finish clamping action;
the lower terminal surface of the location end of setting element is provided with the cushion, the lower terminal surface of cushion with the distance between the centre gripping arm end accounts for more than 1/2 of the length of whole centre gripping arm.
2. The loading and unloading device with three-axis transfer as claimed in claim 1, wherein: the sliding seat is provided with two mutually parallel sliding rails, and two ends of a connecting seat of the clamping assembly arranged on the sliding seat are correspondingly connected to the two sliding rails through connecting sliding blocks;
two the equal vertical separation blade that sets up in the terminal outside of slide rail, the inside perpendicular extension of the side at separation blade end is provided with the baffle, the baffle towards one side of centre gripping subassembly still is provided with the cushion.
3. The loading and unloading device with three-axis transfer as claimed in claim 1, wherein: every two all be provided with the cushion between the centre gripping subassembly, the cushion is fixed to be set up in wherein arbitrary one on the connecting seat of centre gripping subassembly.
4. The loading and unloading device with three-axis transfer as claimed in claim 1, wherein: the clamping device is provided with more than two detachable clamping assemblies.
5. The loading and unloading device with three-axis transfer as claimed in claim 1, wherein: and a reinforcing plate is further arranged on one side of the clamping finger cylinder, the reinforcing plate extends downwards to a position between the L-shaped sliding part of the clamping piece and the positioning part, and a detection device is arranged at the tail end of the reinforcing plate.
6. The loading and unloading device with three-axis transfer as claimed in claim 1, wherein: the inner side of the clamping arm is provided with concave-convex grain holes or concave-convex grains.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611217899.8A CN106586537B (en) | 2016-12-26 | 2016-12-26 | Three-axis load transferring and discharging device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611217899.8A CN106586537B (en) | 2016-12-26 | 2016-12-26 | Three-axis load transferring and discharging device |
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| Publication Number | Publication Date |
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| CN106586537A CN106586537A (en) | 2017-04-26 |
| CN106586537B true CN106586537B (en) | 2022-11-01 |
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| CN201611217899.8A Active CN106586537B (en) | 2016-12-26 | 2016-12-26 | Three-axis load transferring and discharging device |
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| JP2015168039A (en) * | 2014-03-07 | 2015-09-28 | ファナック株式会社 | Robot hand holding object, robot, robot system, and method holding object |
| CN106002970B (en) * | 2016-06-16 | 2019-01-04 | 美的集团武汉制冷设备有限公司 | Intelligence transhipment fixture |
| CN206288682U (en) * | 2016-12-26 | 2017-06-30 | 广东利迅达机器人***股份有限公司 | A kind of handling equipment of high-precision three axles transfer |
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Denomination of invention: A three-axis loading and unloading device Effective date of registration: 20231205 Granted publication date: 20221101 Pledgee: Guangdong Shunde Rural Commercial Bank Co.,Ltd. Chencun sub branch Pledgor: GUANGDONG LXD ROBOTICS Co.,Ltd. Registration number: Y2023980069372 |