CN108568840A - Material sorting elevating mechanism and material Prospect of Robot Sorting System - Google Patents
Material sorting elevating mechanism and material Prospect of Robot Sorting System Download PDFInfo
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- CN108568840A CN108568840A CN201710145456.0A CN201710145456A CN108568840A CN 108568840 A CN108568840 A CN 108568840A CN 201710145456 A CN201710145456 A CN 201710145456A CN 108568840 A CN108568840 A CN 108568840A
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- arm
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- pulley
- telescopic boom
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of material sorting elevating mechanism and material Prospect of Robot Sorting System, material sorting includes with elevating mechanism：The fixed arm (1) and Telescopic boom mechanism that power part, vertical direction are arranged, the Telescopic boom mechanism is mounted in the arm cylinder of the fixed arm (1), and the Telescopic boom mechanism includes the telescopic arm of at least three-level nested installation step by step, most final stage telescopic arm in the Telescopic boom mechanism is as actuating station for sorting material, and wire rope pulley transmission mechanism is equipped between the fixed arm (1) and telescopic arm at different levels, the vertically moving at least three times stroke of actuating station can be made when the power part moves single times of stroke.The present invention occupies the stroke distances that three times or more can be realized in one times of space in vertical direction, while meeting Material Sorting requirement, requires to reduce to the building height at scene, and greatly saves occupancy of the equipment to site space.
Description
Technical field
The present invention relates to logistics field more particularly to a kind of material sorting elevating mechanisms and material Prospect of Robot Sorting System.
Background technology
In logistic industry, in order to which increase article puts density, generally require one or several kinds of commodity same
It is put on pallet, and stacking multilayer, during stacking and de-stacking, needs to waste many manpower and materials.
Tear open stacking to cargo at present and use two kinds of forms substantially, a kind of form is torn open using articulated arm robots
Stacking, it is another then be to carry out tearing stacking open to it using Cartesian robot.In the form that both tear stacking open, joint arm
The operating radius that robot tears stacking open is small, not applicable to tear stacking work open on a large scale, and Cartesian robot can be in operation
The cargo on arbitrary pallet is carried out to tear stacking open in range, therefore for larger job area, is generally used right angle
Coordinates robot.
The elevating mechanism of vertical direction is equipped in existing rectangular co-ordinate Prospect of Robot Sorting System, and the form of elevating mechanism is not
One, including hoisting mechanism, rack and pinion mechanism, synchronous pulley mechanism, chain sprocket mechanism, steel wire rope mechanism etc., these hang down
It is one-stroke or Bei Cheng mechanisms to go straight up to descending mechanism.Turnover box for storing the article within 50KG in warehouse comes
It says, for this turnover box in order to manually carry, size is usually smaller, and also more compact when stacking, and existing vertical lift
Mechanism one side size is larger, occupies larger space in vertical direction, it is difficult to be suitable for the ruler of the end effector mechanism of robot
Very little limitation requirement, on the other hand guiding and parts processing require it is higher, if stability is inadequate in operational process,
Stacking effect can then be influenced.
Invention content
The purpose of the present invention is to propose to a kind of material sorting elevating mechanism and material Prospect of Robot Sorting System, can meet object
While material sorting requires, the occupancy of site space is saved.
To achieve the above object, an embodiment of the present invention provides a kind of material sorting elevating mechanisms, including：Power part
The fixed arm and Telescopic boom mechanism that part, vertical direction are arranged, the Telescopic boom mechanism are mounted in the arm cylinder of the fixed arm, and
The Telescopic boom mechanism includes the telescopic arm of at least three-level nested installation step by step, the most final stage telescopic arm in the Telescopic boom mechanism
As actuating station for sorting material, and wire rope pulley transmission mechanism, energy are equipped between the fixed arm and telescopic arm at different levels
It is enough to make the vertically moving at least three times stroke of actuating station when the power part moves single times of stroke.
Further, ball-screw transmission mechanism is equipped between the power part and the Telescopic boom mechanism, it is described
Power part drives the initial stage telescopic arm in the Telescopic boom mechanism relative to described by the ball-screw transmission mechanism
Fixed arm moves along a straight line.
Further, the power part includes motor and retarder, the output shaft of the retarder by shaft coupling with
The leading screw axis connection of the ball-screw transmission mechanism, the motor is via the retarder, the shaft coupling to the leading screw
Axis output torque.
Further, it is also set on one end far from the power part in the lead screw shaft of the ball-screw transmission mechanism
Limited position mechanism can limit the extreme lower position of the initial stage telescopic arm.
Further, further include retarder mounting plate, the retarder mounting plate is fixedly mounted on the fixed arm bottom,
For the retarder to be fixed, the output shaft of the retarder, the shaft coupling and the lead screw shaft are located at described subtract
In the inner space that fast device mounting plate is surrounded.
Further, bearing and bearing fixing mechanism are additionally provided between the retarder mounting plate and the lead screw shaft.
Further, the wire rope pulley transmission mechanism includes semi-girder steel wire rope, semi-girder pulley, contracting arm steel wire rope and contracting
Arm pulley, the telescopic arms at different levels between the fixed arm and the most final stage telescopic arm are fixedly installed semi-girder pulley and contracting arm
Pulley；
For each semi-girder pulley, the both ends of semi-girder steel wire rope are separately fixed at the interior of the telescopic arm where the semi-girder pulley
On outer alternate arm body, and the semi-girder pulley is bypassed from the semi-girder direction of the Telescopic boom mechanism；
For each contracting arm pulley, the both ends of contracting arm steel wire rope are separately fixed at the interior of the telescopic arm where the contracting arm pulley
On outer alternate arm body, and the contracting arm pulley is bypassed from the contracting arm direction of the Telescopic boom mechanism.
Further, the Telescopic boom mechanism is the three-level nested telescopic arm installed step by step, the wire rope pulley transmission
Mechanism can make execution end motion three times stroke when the power part moves single times of stroke.
Further, at different levels flexible in the Telescopic boom mechanism between the fixed arm and the Telescopic boom mechanism
It is additionally provided with guide runner between arm, the guide runner, which is located at, to be removed most final stage in the fixed arm and the Telescopic boom mechanism and stretch
The madial wall distal end of other grade of telescopic arm of contracting arm, and the lateral wall of telescopic arm at different levels is close in the Telescopic boom mechanism
End.
To achieve the above object, an embodiment of the present invention provides a kind of material Prospect of Robot Sorting System, including material above-mentioned to pick
Select elevating mechanism.
One embodiment of aforementioned present invention has the following advantages that or advantageous effect, and nested step by step using at least three-level is pacified
The telescopic arm of dress, and realize by wire rope pulley transmission mechanism the driving relationship of at least three times journey, it is occupied in vertical direction
The stroke distances of three times or more can be realized in one times of space, high to the building at scene while meeting Material Sorting requirement
Degree requires to reduce, and greatly saves occupancy of the equipment to site space.
Description of the drawings
Attached drawing described herein is used to provide further understanding of the present invention, and is constituted part of this application, this hair
Bright illustrative embodiments and their description are not constituted improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is the structural schematic diagram of an embodiment of material sorting elevating mechanism of the present invention.
Fig. 2 is the diagrammatic cross-section of the vertical direction of material sorting elevating mechanism embodiment of the present invention.
Fig. 3, Fig. 4 are respectively the enlarged diagram of encircled portion A, B in Fig. 2.
Fig. 5 is the material sorting of the present invention structural schematic diagram that power part is saved in elevating mechanism embodiment.
Fig. 6 is material sorting of the present invention with saving power part and wire rope pulley transmission mechanism in elevating mechanism embodiment
Structural schematic diagram.
Specific implementation mode
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
As shown in Figure 1, the structural schematic diagram of the embodiment for material sorting elevating mechanism of the present invention.In conjunction with Fig. 2-6
Shown in each structural schematic diagram, the material sorting of the present embodiment includes with elevating mechanism：What power part, vertical direction were arranged consolidates
Fixed arm 1 and Telescopic boom mechanism.Telescopic boom mechanism is mounted in the arm cylinder of the fixed arm 1, and the Telescopic boom mechanism includes extremely
Few three-level telescopic arm that nesting is installed step by step.Most final stage telescopic arm in Telescopic boom mechanism is used to sort material as actuating station,
And wire rope pulley transmission mechanism is equipped between the fixed arm 1 and telescopic arm at different levels, it can be moved in the power part single
Make the vertically moving at least three times stroke of actuating station when times stroke.
Three times or more can be realized in the space that the fixed arm and Telescopic boom mechanism of the present embodiment occupy one times in vertical direction
Stroke distances, while the range demands for meeting Material Sorting, less vertical direction occupied space reduce scene
Building height requirement.
The section form in " returning " type can be used in fixed arm and telescopic arm at different levels, nested between arm and arm to realize
And relative motion.Since Telescopic boom mechanism needs in the arm cylinder of fixed arm 1, Telescopic boom mechanism is at least part of most
Large scale is less than the inside dimension of fixed arm, from most final stage telescopic arm to the direction of initial stage telescopic arm in Telescopic boom mechanism
Size increases step by step, and wants the overall size of adjacent level telescopic arm that can realize nested installation.
To realize driving of the power part to Telescopic boom mechanism, can be used between power part and Telescopic boom mechanism various existing
The transmission mechanisms such as the feasible kind of drive, such as connecting rod, rack-and-pinion that have.In view of wire rope pulley transmission mechanism belongs to laborious
The transmission mechanism of distance is saved, therefore preferably use can be realized compared with large driving force or torque between power part and Telescopic boom mechanism
Transmission mechanism, but also to minimize the occupied space of fixed arm and Telescopic boom mechanism horizontal direction.Based on this thinking,
Ball-screw transmission mechanism can be used in the present embodiment, and ball-screw transmission mechanism setting is in the power part and described flexible
Between arm mechanism, power part drives the initial stage telescopic arm in the Telescopic boom mechanism by the ball-screw transmission mechanism
It moves along a straight line relative to the fixed arm 1, and then drives the linear motion of other telescopic arms at different levels.
With reference to figure 1 and Fig. 2, power part can specifically include motor 5 and retarder 6, and the output shaft of the retarder 6 is logical
It crosses shaft coupling 7 to connect with the lead screw shaft 10 of the ball-screw transmission mechanism, the motor 5 is via the retarder 6, described
Axis device 7 is to 10 output torque of the lead screw shaft.Motor 5 is easily obtained, easy for installation, can provide power for entire elevating mechanism
Source.Speed reducer 6 can reduce the output rotating speed of motor 5, and promote output torque.Shaft coupling 7 is for connecting the defeated of speed reducer 6
Shaft and lead screw shaft 10.The drive path that lead screw shaft 10 is arrived by motor 5, may be implemented reliably and smoothly to move transmission.
Referring to figs. 2 and 3, the ball nut 11 of lead screw shaft 10 and the initial stage telescopic arm bottom installation in Telescopic boom mechanism
Engagement, as the rotation of lead screw shaft 10 can drive ball nut 11 and its initial stage telescopic arm that is connected is together along vertical side
To movement.It is preferably separate in the lead screw shaft of ball-screw transmission mechanism 10 in order to limit the extreme lower position of initial stage telescopic arm
Position-limit mechanism 20 is further set on one end of the power part, to limit the extreme lower position of the initial stage telescopic arm.This
In position-limit mechanism 20 can be in lead screw shaft 10 process or assemble bulge-structure, can also use be fixed on corresponding position
Limit screw.In addition, stay wire sensor 19 can also be arranged in the outside of fixed arm 1, it is flexible that one end is connected to most final stage
On arm, effect is to determine the position of elevating mechanism during the motion.
In fig. 2, material sorting elevating mechanism can also include retarder mounting plate 8, which fixes
Mounted on 1 bottom of the fixed arm, for the retarder 6 to be fixed.In order to ensure the output shaft of retarder 6 and described
The connection of lead screw shaft 10 is reliable, is preferably subtracting the tip portion setting of the output shaft of retarder 6, shaft coupling 7 and lead screw shaft 10
In the inner space that fast device mounting plate 8 is surrounded.In addition to this it is possible to retarder mounting plate 8 and the lead screw shaft 10 it
Between setting bearing 9 and bearing fixing mechanism, to give lead screw shaft 10 to provide rotational support, and limit the axial direction and diameter of lead screw shaft 10
To degree of freedom.
It is illustrated below in conjunction with the realization method of Fig. 2-5 pairs of wire rope pulley transmission mechanisms.It can be with from Fig. 2
See, wire rope pulley transmission mechanism includes semi-girder steel wire rope 15, semi-girder pulley 14, contracting arm steel wire rope 13 and contracting arm pulley 12.
Wherein, semi-girder steel wire rope 15 and semi-girder pulley 14 play driving effect during the semi-girder of Telescopic boom mechanism, and contracting arm steel wire
Rope 13 and contracting arm pulley 12 are then to play driving effect during the contracting arm of Telescopic boom mechanism.
The installation position of semi-girder pulley 14 and contracting arm pulley 12 is at different levels between fixed arm 1 and the most final stage telescopic arm
Telescopic arm.For each semi-girder pulley 14, the both ends of semi-girder steel wire rope 15 are separately fixed at the flexible of 14 place of semi-girder pulley
On the inside and outside alternate arm body of arm, and the semi-girder pulley 14 is bypassed from the semi-girder direction of the Telescopic boom mechanism.For each contracting arm
The both ends of pulley 12, contracting arm steel wire rope 13 are separately fixed on the inside and outside alternate arm body of the telescopic arm where the contracting arm pulley 12,
And bypass the contracting arm pulley 12 from the contracting arm direction of the Telescopic boom mechanism.
In order to reduce the width of telescopic arms and fixed arm at different levels, telescopic arm is preferably arranged where it in contracting arm pulley 12
Inside, and semi-girder pulley 14 is arranged where it to the outside of telescopic arm.With reference to figure 3 and Fig. 4, the contracting arm pulley 12 close to upper end
The inside of telescopic arm where being fixedly mounted on itself by pulley mounting bracket 17, to save 12 occupied level of contracting arm pulley
The space in direction, and the outer of itself place telescopic arm is fixedly mounted on by pulley mounting bracket 17 close to the semi-girder pulley 14 of lower end
Side, and the telescopic arm relative to upper level or fixed arm exposing, to save 14 occupied horizontal direction of semi-girder pulley
Space.
For the elevating mechanism for using wire rope pulley transmission mechanism according to the present invention, operation principle is can to expand to
Three-level, level Four or even more stages, but because of the influences such as space, process and assemble precision, the series of times journey is not the bigger the better.It is first
First this mechanism belongs to laborious mechanism, its series directly affects the driving force at driving end, and the power part at end is driven to drive
Power is bigger, and often corresponding size is also bigger.On the other hand, when journey series is more again, increase due to being related to component, also can
Increase occupied space.Correspondingly, after each component deviation accumulation, the reduction of precision is also resulted in.Therefore in logistic storage stacking field
Under scape, preferably Telescopic boom mechanism is the three-level nested telescopic arm installed step by step, with when the power part moves single times of stroke
Make execution end motion three times stroke, after this is the factors such as the application space for combining field device, motor matching, turnover box size
The preferred embodiment obtained.
Distinguish illustratively telescopic process by taking the wire rope pulley transmission mechanism of three times journey shown in Fig. 2-5 as an example below
In each component position relationship and relative motion relation.
Telescopic boom mechanism in Fig. 2 has three-level telescopic arm, and wherein telescopic arm 2 is initial stage telescopic arm, and telescopic arm 4 is most
Final stage telescopic arm, telescopic arm 3 is between telescopic arm 2 and telescopic arm 4.The contracting arm pulley 12 in left side is leaned on to pass through pulley in figure 3
Mounting bracket 17 is fixed on the inner side of telescopic arm 2, and both sides are same root contracting arm steel wire rope 13,13 one end of contracting arm steel wire rope
It is fixed on the inside link block 21 of telescopic arm 3, the other end is fixed on the inside link block 21 of fixed arm 1.In the contractings of Fig. 3 on the right side
Arm pulley 12 is fixed on the inner side of telescopic arm 3 by pulley mounting bracket 17, and both sides are same root contracting arm steel wire rope 13, should
13 one end of contracting arm steel wire rope is fixed on the inside link block 21 of telescopic arm 4, and the other end is fixed on the inside link block of fixed arm 2
21。
When motor driving lead screw shaft 10 rotates so that telescopic arm 2 is vertically retracted upwards relative to fixed arm 1, stretch
Contracting arm 2 drives contracting arm pulleys 12 of the Fig. 3 by left side to move upwards, since fixed arm 1 is opposing stationary, then in contracting arm steel wire rope 13
Under pull effect, telescopic arm 3, which is pulled, to be moved upwards, and moving upwards for telescopic arm 3 drives Fig. 3 contracting arm pulleys 12 on the right side
It moves upwards, under the pull effect of contracting arm steel wire rope 13 so that telescopic arm 4, which is also pulled, to be moved upwards, to pass through silk
The rotation of thick stick axis and drive entire telescopic arm to realize and retract.
The semi-girder pulley 14 in left side is leaned on to be fixed on the outer fix of telescopic arm 2 by pulley mounting bracket 17 in Fig. 4, two
Side is same root semi-girder steel wire rope 15, which is fixed on the outside link block 22 of telescopic arm 3, and the other end is solid
It is scheduled on the outside link block 22 of fixed arm 1.Telescopic arm is fixed on by pulley mounting bracket 17 in the semi-girder pulleys 14 of Fig. 4 on the right side
3 outer fix, both sides are same root semi-girder steel wire rope 15, which is fixed on the outside of telescopic arm 4
Link block 22, the other end are fixed on the outside link block 22 of fixed arm 2.
When the motor driving rotation of lead screw shaft 10 is so that telescopic arm 2 stretches out vertically downwards relative to fixed arm 1, stretch
Contracting arm 2 drives semi-girder pulleys 14 of the Fig. 4 by left side to move downward, since fixed arm 1 is opposing stationary, then in semi-girder steel wire rope 15
Under pull effect, telescopic arm 3, which is pulled, to be moved downward, and moving downward for telescopic arm 3 drives Fig. 4 semi-girder pulleys 14 on the right side
It moves downward, under the pull effect of semi-girder steel wire rope 15 so that telescopic arm 4, which is also pulled, to be moved downward, to pass through silk
The rotation of thick stick axis and drive entire telescopic arm to realize and stretch out.
The material sorting of the present invention can effectively realize the standard of cargo with elevating mechanism in logistic storage stacking scene
Really carry, and smooth movement opposite between telescopic arm at different levels between Telescopic boom mechanism and fixed arm and in Telescopic boom mechanism can
It is aided with realization by guide runner 18.Referring to Fig. 6, guide runner 18 is arranged between fixed arm 1 and the Telescopic boom mechanism, with
And between the telescopic arms at different levels in Telescopic boom mechanism.The lower material of friction coefficient can be used in guide runner 18, with reduce arm with
The frictional resistance of relative motion between arm.
Guide runner 18, which is located at, to be removed other grades of most final stage telescopic arm and stretches in the fixed arm 1 and the Telescopic boom mechanism
The madial wall distal end of contracting arm, and in the Telescopic boom mechanism telescopic arm at different levels lateral wall proximal end, can ensure in this way
All guide runners 18 can play guiding role in the process of running, increase and be oriented to length.It, can by the way that guide runner is arranged
Effectively to adjust the gap between fixed arm and telescopic arm at different levels.It, can also be convenient after guide runner excessive wear
It is replaced.
The above-mentioned material sorting of the present invention is applicable to all kinds of fields for needing to carry out physical distribution selection with elevating mechanism embodiment
It closes, especially logistic storage stacking scene.It can be mounted on real on material Prospect of Robot Sorting System (such as Cartesian robot etc.)
Existing material stacking function.Therefore the present invention also provides a kind of material Prospect of Robot Sorting System, including aforementioned any material to sort
With elevating mechanism embodiment.
Finally it should be noted that:The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, those of ordinary skills in the art should understand that：Still
It can modify to the specific implementation mode of the present invention or equivalent replacement is carried out to some technical characteristics；Without departing from this hair
The spirit of bright technical solution should all cover within the scope of the technical scheme claimed by the invention.
Claims (10)
1. a kind of material sorting elevating mechanism, which is characterized in that including：The fixed arm (1) that power part, vertical direction are arranged
And Telescopic boom mechanism, the Telescopic boom mechanism are mounted in the arm cylinder of the fixed arm (1), and the Telescopic boom mechanism includes extremely
Lack the three-level nested telescopic arm installed step by step, the most final stage telescopic arm in the Telescopic boom mechanism is as actuating station for sorting object
Material, and wire rope pulley transmission mechanism is equipped between the fixed arm (1) and telescopic arm at different levels, it can be transported in the power part
Make the vertically moving at least three times stroke of actuating station when moving single times of stroke.
2. material sorting elevating mechanism according to claim 1, which is characterized in that in the power part and described stretch
Ball-screw transmission mechanism is equipped between contracting arm mechanism, the power part passes through described in ball-screw transmission mechanism driving
Initial stage telescopic arm in Telescopic boom mechanism moves along a straight line relative to the fixed arm (1).
3. material sorting elevating mechanism according to claim 2, which is characterized in that the power part includes motor
(5) and retarder (6) leading screw that, the output shaft of the retarder (6) passes through shaft coupling (7) and the ball-screw transmission mechanism
Axis (10) connects, and the motor (5) exports to the lead screw shaft (10) and turns round via the retarder (6), the shaft coupling (7)
Square.
4. material sorting elevating mechanism according to claim 2, which is characterized in that in the ball-screw transmission mechanism
Lead screw shaft (10) on far from the power part one end on be additionally provided with position-limit mechanism (20), the initial stage can be limited and stretched
The extreme lower position of contracting arm.
5. material sorting elevating mechanism according to claim 3, which is characterized in that further include retarder mounting plate (8),
The retarder mounting plate (8) is fixedly mounted on the fixed arm (1) bottom, for the retarder (6) to be fixed, institute
The output shaft, the shaft coupling (7) and the lead screw shaft (10) for stating retarder (6) are located at the retarder mounting plate (8) and are enclosed
At inner space in.
6. material sorting elevating mechanism according to claim 5, which is characterized in that in the retarder mounting plate (8)
Bearing (9) and bearing fixing mechanism are additionally provided between the lead screw shaft (10).
7. material sorting elevating mechanism according to claim 1, which is characterized in that the wire rope pulley transmission mechanism
Including semi-girder steel wire rope (15), semi-girder pulley (14), contracting arm steel wire rope (13) and contracting arm pulley (12), the fixed arm (1) with
Telescopic arms at different levels between the most final stage telescopic arm are fixedly installed semi-girder pulley (14) and contracting arm pulley (12)；
For each semi-girder pulley (14), the both ends of semi-girder steel wire rope (15) are separately fixed at stretching where the semi-girder pulley (14)
On the inside and outside alternate arm body of contracting arm, and the semi-girder pulley (14) is bypassed from the semi-girder direction of the Telescopic boom mechanism；
For each contracting arm pulley (12), the both ends of contracting arm steel wire rope (13) are separately fixed at stretching where the contracting arm pulley (12)
On the inside and outside alternate arm body of contracting arm, and the contracting arm pulley (12) is bypassed from the contracting arm direction of the Telescopic boom mechanism.
8. material sorting elevating mechanism according to claim 7, which is characterized in that the Telescopic boom mechanism be three-level by
The telescopic arm of the nested installation of grade, the wire rope pulley transmission mechanism can make to hold when the power part moves single times of stroke
Row end motion three times stroke.
9. material sorting elevating mechanism according to claim 1, which is characterized in that the fixed arm (1) with it is described
Between Telescopic boom mechanism, guide runner (18) is additionally provided between the telescopic arms at different levels in the Telescopic boom mechanism, the guiding is slided
Block (18) is located at the inside for other grade of telescopic arm that most final stage telescopic arm is removed in the fixed arm (1) and the Telescopic boom mechanism
Wall distal end, and in the Telescopic boom mechanism telescopic arm at different levels lateral wall proximal end.
10. a kind of material Prospect of Robot Sorting System, which is characterized in that including any material sorting lifting of claim 1~9
Mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710145456.0A CN108568840A (en) | 2017-03-13 | 2017-03-13 | Material sorting elevating mechanism and material Prospect of Robot Sorting System |
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| CN201710145456.0A CN108568840A (en) | 2017-03-13 | 2017-03-13 | Material sorting elevating mechanism and material Prospect of Robot Sorting System |
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Cited By (8)
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| CN110421576A (en) * | 2019-08-08 | 2019-11-08 | 四川阿泰因机器人智能装备有限公司 | A kind of multi-stage expansion arm configuration and its robot that closes a position |
| CN111439684A (en) * | 2020-04-27 | 2020-07-24 | 长沙华恒机器人***有限公司 | Large-span heavy-load truss manipulator |
| CN111890335A (en) * | 2020-07-15 | 2020-11-06 | 燕山大学 | Five-degree-of-freedom synchronous telescopic two-stage manipulator |
| CN111923084A (en) * | 2020-09-01 | 2020-11-13 | 惠州市恒泰富复合材料有限公司 | Bridge detects with flexible arm |
| CN112747018A (en) * | 2019-10-30 | 2021-05-04 | 发那科株式会社 | Direct-acting mechanism |
| CN113026685A (en) * | 2021-03-24 | 2021-06-25 | 中国长江电力股份有限公司 | Double-range rigid telescopic arm suitable for vertically lifting gate slot for cleaning |
| WO2021129070A1 (en) * | 2019-12-25 | 2021-07-01 | 广东博智林机器人有限公司 | Lifting mechanism and construction robot |
| CN116476122A (en) * | 2023-06-13 | 2023-07-25 | 苏州朗信智能科技有限公司 | Telescopic mechanical arm |
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