CN113602792A - Guide rail transfer robot - Google Patents
Guide rail transfer robot Download PDFInfo
- Publication number
- CN113602792A CN113602792A CN202110824231.4A CN202110824231A CN113602792A CN 113602792 A CN113602792 A CN 113602792A CN 202110824231 A CN202110824231 A CN 202110824231A CN 113602792 A CN113602792 A CN 113602792A
- Authority
- CN
- China
- Prior art keywords
- guide rail
- clamping
- elevator
- carrying
- limiting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B7/00—Other common features of elevators
- B66B7/02—Guideways; Guides
- B66B7/023—Mounting means therefor
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a guide rail carrying robot which comprises a guide rail storage module and a carrying module, wherein the guide rail storage module and the carrying module are arranged on a rack; the carrying module comprises a clamping mechanism and a carrying mechanism for driving the clamping mechanism to move, wherein the clamping mechanism is used for clamping the elevator guide rail on the guide rail storage rack; the carrying mechanism is used for driving the clamping mechanism to carry the elevator guide rail to a specified installation position; the clamping mechanism is used for clamping the workpiece; when the carrying mechanism drives the clamping mechanism to move, the clamping mechanism is always supported on the supporting mechanism. The guide rail carrying robot can drive the elevator guide rail to move to the designated position through smaller driving force, and has the advantages of high carrying speed, high carrying precision, safety and stability.
Description
Technical Field
The invention relates to elevator installation equipment, in particular to a guide rail carrying robot.
Background
As modern building transportation vehicles, elevators are used more and more along with the development of society. Elevator installation projects have become a huge industry. The installation of elevators generally comprises the following: the elevator is installed with elevator lifting traction device and control system in the machine room, elevator cage, counterweight, guide rail and cable, floor-stopping control and protection device in the shaft, and door, display and floor-stopping controller etc. in the door. The construction of an elevator in a hoistway generally requires that four guide rails are installed firstly, wherein a left main guide rail and a right main guide rail are used for guiding the lifting of an elevator car; the other two auxiliary guide rails are used for guiding the lifting of the elevator counterweight block; then a plurality of landing door sill door sleeves used for entering and exiting the elevator need to be installed; the installation construction of the guide rail and the door pocket of the door sill needs to be carried out in advance by plumb line lofting, and then the basic fixing piece is installed by taking the plumb line lofting as a reference, wherein the installation of the door pocket needs to be carried out by installing expansion screws on the wall in an alignment manner for fixing the basic fixing pieces such as the door sill, the upper sill, the small door pocket and the like; the installation of the guide rail needs to be pre-installed with a guide rail bracket and foundation fixing parts such as a bottom code (usually angle iron, commonly called bottom code, the same below) used for fixing the bracket and connected with a wall body.
In the installation process of the elevator guide rail, the elevator guide rail conveyed by a conveying device is conveyed to a specific position, and the adjustment of the elevator guide rail in the X-axis direction, the Y-axis direction and the Z-axis direction is realized; however, in the conventional conveying device, the conveying device clamps the guide rail through the clamping mechanism, so that the elevator guide rail is suspended on the conveying device, and the gravity of the elevator guide rail is completely acted on the conveying device, so that the conveying device can clamp and drive the elevator guide rail to move only by using a large driving force, and thus the conveying speed of the conventional conveying device is slow, and the conveying efficiency and the conveying precision are not high.
Disclosure of Invention
The guide rail transfer robot can drive the elevator guide rail to move to the specified position through smaller driving force, and has the advantages of high transfer speed, high transfer precision, safety and stability.
The technical scheme for solving the technical problems is as follows:
a guide rail carrying robot comprises a guide rail storage module arranged on a rack and a carrying module used for carrying guide rails in the guide rail storage module to a specified installation position, wherein the guide rail storage module comprises a guide rail storage rack arranged on the rack, and a plurality of elevator guide rails are vertically arranged on the guide rail storage rack in parallel; the carrying module comprises a clamping mechanism and a carrying mechanism for driving the clamping mechanism to move, wherein the clamping mechanism is used for clamping the elevator guide rail on the guide rail storage rack; the carrying mechanism is used for driving the clamping mechanism to carry the elevator guide rail to a specified installation position;
the clamping mechanism is used for clamping the workpiece; when the carrying mechanism drives the clamping mechanism to move, the clamping mechanism is always supported on the supporting mechanism.
Preferably, the conveying mechanism comprises a conveying seat and a conveying driving mechanism for driving the conveying seat to move, wherein the clamping mechanism is mounted on the conveying seat.
Preferably, the clamping mechanism comprises a clamping seat and a clamping piece arranged on the clamping seat, wherein the clamping seat is arranged on the carrying seat, and a clamping groove matched with the elevator guide rail is formed in the clamping piece; when the clamping piece clamps the elevator guide rail, the upper part of the clamping piece supports a guide rail connecting plate installed on the elevator guide rail.
Preferably, the clamping mechanism further comprises a limiting mechanism for limiting the elevator guide rail, the limiting mechanism comprises a limiting block and a limiting driving mechanism, wherein a limiting groove matched with the elevator guide rail is formed in the limiting block, and the limiting driving mechanism is used for driving the limiting block to move so as to enable the limiting groove to be matched with the elevator guide rail; the limiting driving mechanism comprises a limiting cylinder, the limiting cylinder is installed on the carrying seat, and a telescopic rod of the limiting cylinder is connected with the limiting block.
Preferably, the support mechanism includes a support frame provided on the machine frame and a guide mechanism provided between the support frame and the holder, wherein the support frame extends along a carrying direction of the elevator guide rail; a guide piece in the guide mechanism is arranged on the clamping seat; and a guide rail in the guide mechanism is arranged on the support frame and extends along the extension direction of the support frame.
Preferably, the guide member is a guide wheel, the guide wheel is mounted on the clamping seat, and the support frame constitutes the guide rail.
Preferably, the supporting mechanism is further provided with a height adjusting mechanism for driving the supporting frame to do lifting motion, the height adjusting mechanism drives the supporting frame and the clamping mechanism on the supporting frame to do lifting motion, so that the elevator guide rail on the guide rail storage rack is transferred into the clamping mechanism, and the height of the elevator guide rail clamped by the clamping mechanism is adjusted.
Preferably, the height adjusting mechanism comprises an eccentric wheel mechanism and an eccentric driving mechanism for driving the eccentric wheel mechanism to move, wherein one end of the supporting frame is hinged to the rack, and the other end of the supporting frame is connected with the eccentric wheel mechanism; the eccentric wheel mechanism comprises an eccentric wheel frame and an eccentric wheel arranged in the eccentric wheel frame, wherein the eccentric wheel frame is arranged on the supporting frame, and a groove matched with the eccentric wheel is arranged in the eccentric wheel frame; the groove extends in a conveying direction of the elevator guide rail; the clamping seat in the clamping mechanism is connected with the carrying seat through a vertical sliding mechanism, and a sliding block and a sliding rail of the vertical sliding mechanism are respectively arranged on the clamping seat and the carrying seat.
Preferably, the guide rail storage rack comprises a limiting rack arranged on the rack and positioned at the upper end and a support bracket positioned at the lower end, wherein a storage groove is formed in the limiting rack and extends along the length direction of the limiting rack; the upper end of the elevator guide rail is positioned in the storage groove, and the lower end of the elevator guide rail is supported on the support bracket.
Preferably, the guide rail storage module further comprises a positioning mechanism arranged on the limiting frame and used for positioning each elevator guide rail on the guide rail storage frame, and when the clamping mechanism clamps the elevator guide rails, the positioning mechanism loosens the elevator guide rails.
The guide rail transfer robot of the invention has the working principle that:
when the elevator guide rail clamping device works, the carrying mechanism drives the clamping mechanism to reach the guide rail storage rack, and the clamping mechanism clamps the elevator guide rail in the guide rail storage rack; then, the carrying mechanism drives the clamping mechanism and the elevator guide rail clamped by the clamping mechanism to move to an installation position, in the process, as the clamping mechanism is always supported on the supporting mechanism, the gravity of the elevator guide rail is borne by the supporting mechanism, the power of the carrying mechanism only needs to drive the clamping mechanism and the elevator guide rail to move, so that the load of the carrying mechanism can be greatly reduced, the carrying mechanism only needs a smaller driving force to drive the elevator guide rail to move, and compared with a traditional carrying mode, the carrying speed is higher, the precision is higher, and the safety and the stability are better; in addition, because many elevator guide rails are vertically placed side by side on the guide rail storage rack, and many elevator guide rails are along with the frame or the elevator car goes up and down synchronously, therefore, after the elevator guide rail has been installed at every turn, the carrying module can directly arrive carry the elevator guide rail in the guide rail storage rack, and the elevator car does not need to fall to the ground to carry out the carrying of elevator guide rail, is favorable to reducing the carrying time of elevator guide rail like this to further improve installation effectiveness.
Compared with the prior art, the invention has the following beneficial effects:
1. the clamping mechanism is always supported on the supporting mechanism in the moving process, so that the gravity of the elevator guide rail is borne by the supporting mechanism, and the power of the carrying mechanism only needs to drive the clamping mechanism and the elevator guide rail to move, so that the load of the carrying mechanism can be greatly reduced, the carrying mechanism only needs smaller driving force to drive the elevator guide rail to move, and compared with the traditional carrying mode, the carrying speed is higher, the precision is higher, and the safety and the stability are better;
2. because many elevator guide rails are vertically placed side by side on the guide rail storage rack, and along with many elevator guide rails lift in step to frame or elevator car, consequently, after having installed elevator guide rail at every turn, the transport module can directly arrive transport elevator guide rail in the guide rail storage rack, does not need elevator car to fall to ground and carries out the transport of elevator guide rail, is favorable to reducing the transport time of elevator guide rail like this to further improve the installation effectiveness.
3. Compared with the traditional conveying mode, the conveying mechanism has the advantages that the driving force is reduced, so that a driving device with smaller power can be adopted, the manufacturing cost of the guide rail conveying robot can be reduced, and the structure is facilitated to be simplified.
Drawings
Fig. 1 is a schematic perspective view of a rail transfer robot according to the present invention.
Fig. 2-4 are schematic perspective views of three different viewing angles of the handling module of the present invention.
Fig. 5 is a perspective view of the height adjustment mechanism.
Fig. 6 is a schematic perspective view of the clamping mechanism.
Fig. 7 is a schematic perspective view of a rail storage module.
Fig. 8-9 are schematic perspective views of the limiting frame.
Figures 10-11 are perspective views of the support bracket.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
Referring to fig. 1-11, the guide rail handling robot of the invention comprises a guide rail storage module arranged on a machine frame 14 and a handling module for handling the elevator guide rails 6 in the guide rail storage module to a designated installation position.
Referring to fig. 1 to 11, the guide rail storage module comprises a guide rail storage rack arranged on a machine frame 14, a plurality of elevator guide rails 6 are vertically arranged on the guide rail storage rack in parallel, wherein the guide rail storage rack comprises a limiting rack 15 arranged on the machine frame 14 and located at the upper end and a support bracket 17 located at the lower end, a storage groove is arranged on the limiting rack 15, and the storage groove extends along the length direction of the limiting rack 15; the upper end of the elevator guide rail 6 is located in the storage groove and the lower end of the elevator guide rail is supported on the support bracket 17.
Referring to fig. 1-11, the handling module gripping mechanism 2 and a handling mechanism for driving the gripping mechanism 2 to move.
Referring to fig. 1 to 11, the conveying mechanism is used for driving the clamping mechanism 2 to convey the elevator guide rail 6 to a specified installation position, and comprises a conveying seat 1 and a conveying driving mechanism used for driving the conveying seat 1 to move, wherein the clamping mechanism 2 is installed on the conveying seat 1; the conveying driving mechanism consists of a conveying motor 8, a speed reducer 10 connected with the conveying motor 8 and a screw rod transmission mechanism connected with the speed reducer 10, or consists of a conveying cylinder; the conveying driving mechanism drives the conveying seat 1 and the clamping mechanism 2 on the conveying seat 1 to move, so that the elevator guide rail 6 clamped by the clamping mechanism 2 is conveyed. Besides, the carrying driving mechanism can be further provided with a carrying guide mechanism 9, and the carrying guide mechanism 9 can be composed of a sliding rail and a sliding block and used for guiding the movement of the clamping mechanism 2.
Referring to fig. 1-11, the clamping mechanism 2 is used for clamping the elevator guide rail 6, and the clamping mechanism 2 includes a clamping seat and a clamping member 201 arranged on the clamping seat, wherein the clamping seat is mounted on the carrying seat 1, and a clamping groove matched with the elevator guide rail 6 is arranged on the clamping member 201; when the clamp 201 clamps the elevator guide rail 6, the upper part of the clamp 201 supports the guide rail connecting plate 5 mounted on the elevator guide rail 6;
in this embodiment, the clamping member 201 and the clamping seat are an integral structure;
in order to prevent the elevator guide rail 6 from deviating in the carrying process, a limiting mechanism used for limiting the elevator guide rail 6 is further arranged in the clamping mechanism 2, and comprises a limiting block 203 and a limiting driving mechanism 202, wherein a limiting groove matched with the elevator guide rail 6 is formed in the limiting block 203, the limiting driving mechanism 202 is used for driving the limiting block 203 to move so as to enable the limiting groove to be matched with the elevator guide rail 6, the limiting driving mechanism 202 comprises a limiting cylinder, the limiting cylinder is mounted on the carrying seat 1, and a telescopic rod of the limiting cylinder is connected with the limiting block 203. In the process of carrying the elevator guide rail 6, the limiting cylinder drives the limiting block 203 to move, so that the limiting groove of the limiting block 203 is matched with the elevator guide rail 6, the elevator guide rail 6 can be limited, the elevator guide rail 6 is prevented from shaking or deviating in the carrying process, and the clamping piece 201 can be assisted to carry the elevator guide rail 6.
Referring to fig. 1 to 11, the rail handling robot of the present invention further includes a support mechanism for supporting the gripping mechanism 2; when the carrying mechanism drives the clamping mechanism 2 to move, the clamping mechanism 2 is always supported on the supporting mechanism; the supporting mechanism comprises a supporting frame 3 arranged on the machine frame 14 and a guiding mechanism arranged between the supporting frame 3 and the carrying seat 1, wherein the supporting frame 3 extends along the carrying direction of the elevator guide rail 6; the guide member of the guide mechanism is installed on the clamping seat or the clamping member 201, and the guide rail of the guide mechanism is installed on the supporting frame 3 and extends along the extending direction of the supporting frame 3.
In this embodiment, the guiding member is a guiding wheel 13, the guiding wheel 13 is mounted on the clamping member 201, and the supporting frame 3 constitutes the guiding rail; the guide member is set to be the guide wheel 13, so that the friction between the carrying seat 1 and the support frame 3 is changed into rolling friction, the friction resistance is reduced, and the carrying speed is higher.
Referring to fig. 1 to 11, a height adjusting mechanism 4 for driving the support frame to perform a lifting motion is further disposed in the support mechanism, and the height adjusting mechanism 4 drives the support frame 3 and the clamping mechanism 2 on the support frame 3 to perform a lifting motion, so as to transfer the elevator guide rail 6 on the guide rail storage rack into the clamping mechanism 2 and adjust the height of the elevator guide rail 6 clamped by the clamping mechanism 2; for this purpose, the height adjusting mechanism 4 comprises an eccentric wheel mechanism and an eccentric driving mechanism for driving the eccentric wheel mechanism to move, wherein one end of the supporting frame 3 is hinged on the frame 14, and the other end is connected with the eccentric wheel mechanism; the eccentric wheel mechanism comprises an eccentric wheel frame 401 and an eccentric wheel 404 arranged in the eccentric wheel frame 401, wherein the eccentric wheel frame 401 is arranged on the supporting frame 3, and a groove 402 matched with the eccentric wheel 404 is arranged in the eccentric wheel frame 401; the groove 402 extends in the conveying direction of the elevator guide rail 6; the eccentric driving mechanism comprises an eccentric motor 403 arranged on the frame 14, and the eccentric motor 403 is connected with the eccentric wheel 404. In this way, the eccentric wheel 404 is driven to rotate by the eccentric motor 403, so as to drive the eccentric wheel frame 401 to move between the highest point and the lowest point, and thus drive the supporting frame 3 to swing up and down around the hinge point thereof; thereby adjusting the height of the supporting frame 3 and further adjusting the height of the clamping mechanism 2, thereby adjusting the height of the elevator guide rail 6; and for this purpose, the clamping seat in the clamping mechanism 2 is connected with the carrying seat 1 through a vertical sliding mechanism 204, and a sliding block and a sliding rail of the vertical sliding mechanism 204 are respectively installed on the clamping seat (or the clamping piece 201) and the carrying seat 1. When the height adjusting mechanism 4 adjusts the supporting frame 3, the clamping seat and the clamping piece 201 arranged on the clamping seat can adaptively perform lifting movement, so that the height of the elevator guide rail 6 on the clamping piece 201 can be adjusted; due to the guiding of the vertical sliding mechanism 204, the clamping seat and the clamping piece 201 cannot incline due to the swinging of the support frame 3, so that not only can the guide wheels 13 be guaranteed to be always supported on the support frame 3, and the support frame 3 can always bear the weight of the elevator guide rail, but also the elevator guide rail 6 clamped by the clamping piece 201 cannot incline due to the swinging of the support frame 3, and therefore the elevator guide rail 6 is guaranteed to be always vertically arranged, and the installation precision of the elevator guide rail 6 is guaranteed.
In addition, in order to ensure that the clamping member 201 can support the lower end of the guide rail connecting plate 5 when taking materials, the height adjusting mechanism 4 can drive the supporting frame 3 to vertically swing, so that the elevator guide rail 6 suspended on the guide rail storage rack is transferred into the clamping member 201.
In addition, the height adjusting mechanism 4 can also be realized by driving the support frame to move up and down by using an air cylinder or an electric push rod.
With reference to fig. 1-11, a height detection mechanism 7 may also be provided in the height adjustment mechanism 4 for detecting the height of the support frame 3, in order to ensure that the gripping members 201 transfer the elevator guide rails 6 in the storage rack into the gripping members 201. In this embodiment, the height detection mechanism 7 may be composed of a detection sensor and a detection sheet, both of which are respectively installed on the rack 14 and the support frame 3, and the detection sensor detects the detection sheet to determine the position of the support frame 3.
Referring to fig. 1 to 11, the conveying mechanism further includes two sets of position detecting mechanisms 12 for detecting the positions of the gripping mechanisms 2, the two sets of position detecting mechanisms 12 are respectively disposed at the start position and the end position of the conveying stroke for detecting whether the gripping mechanisms 2 reach the start position and the end position, in this embodiment, the position detecting mechanisms 12 may be composed of detecting sensors and detecting pieces, which are respectively mounted on the conveying base 1 and the machine frame 14, and the detecting pieces are detected by the detecting sensors to determine whether the gripping mechanisms 2 reach the start position and the end position of the conveying stroke, so as to convey the elevator guide rails 6 to a specified mounting position, or return to the initial position for conveying the elevator guide rails 6.
Referring to fig. 1-11, the guide rail storage module further includes a positioning mechanism 16 disposed on the machine frame 14 for positioning each elevator guide rail on the guide rail storage rack, the positioning mechanism 16 releasing the elevator guide rail 6 when the gripping mechanism 2 grips the elevator guide rail 6. The structure of the positioning mechanism 16 can be implemented by referring to the structure of the "limiting mechanism" in the above, so that the elevator guide rails 6 in the guide rail storage rack can be prevented from falling, the elevator guide rails 6 stored in the guide rail storage rack 16 are always kept in a vertical arrangement state, and the clamping mechanism 2 is convenient to clamp the elevator guide rails.
Referring to fig. 1 to 11, the guide rail transfer robot of the present invention operates on the principle that:
when the elevator guide rail clamping device works, the carrying mechanism drives the clamping mechanism 2 to reach the guide rail storage rack, and the clamping mechanism 2 clamps the elevator guide rail 6 in the guide rail storage rack; then, the carrying mechanism drives the clamping mechanism 2 and the elevator guide rail 6 clamped by the clamping mechanism 2 to move to the installation position, in the process, as the clamping mechanism 2 is always supported on the supporting mechanism, the gravity of the elevator guide rail 6 is borne by the supporting mechanism, the power of the carrying mechanism only needs to drive the clamping mechanism 2 and the elevator guide rail 6 to move, thus the load of the carrying mechanism can be greatly reduced, the carrying mechanism only needs a small driving force to drive the elevator guide rail 6 to move, and compared with the traditional carrying mode, the carrying speed is higher, and the precision is higher.
The above description is a preferred embodiment of the present invention, but the present invention is not limited to the above description, and any other changes, modifications, substitutions, blocks and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and they are included in the scope of the present invention.
Claims (10)
1. A guide rail carrying robot comprises a guide rail storage module arranged on a rack and a carrying module used for carrying guide rails in the guide rail storage module to a specified installation position, wherein the guide rail storage module comprises a guide rail storage rack arranged on the rack, and a plurality of elevator guide rails are vertically arranged on the guide rail storage rack in parallel; the carrying module comprises a clamping mechanism and a carrying mechanism for driving the clamping mechanism to move, wherein the clamping mechanism is used for clamping the elevator guide rail on the guide rail storage rack; the carrying mechanism is used for driving the clamping mechanism to carry the elevator guide rail to a specified installation position;
the device is characterized by also comprising a supporting mechanism for supporting the clamping mechanism; when the carrying mechanism drives the clamping mechanism to move, the clamping mechanism is always supported on the supporting mechanism.
2. The rail transfer robot of claim 1, wherein the transfer mechanism comprises a transfer seat and a transfer drive mechanism for driving the transfer seat in motion, wherein the gripper mechanism is mounted on the transfer seat.
3. The rail handling robot of claim 2, wherein the gripping mechanism comprises a gripper block and a gripper disposed on the gripper block, wherein the gripper block is mounted on the handling block and the gripper block is provided with a gripping slot that engages the elevator rail; when the clamping piece clamps the elevator guide rail, the upper part of the clamping piece supports a guide rail connecting plate installed on the elevator guide rail.
4. The guide rail handling robot of claim 3, wherein the clamping mechanism further comprises a limiting mechanism for limiting the elevator guide rail, the limiting mechanism comprises a limiting block and a limiting driving mechanism, wherein a limiting groove matched with the elevator guide rail is formed in the limiting block, and the limiting driving mechanism is used for driving the limiting block to move so as to enable the limiting groove to be matched with the elevator guide rail; the limiting driving mechanism comprises a limiting cylinder, the limiting cylinder is installed on the carrying seat, and a telescopic rod of the limiting cylinder is connected with the limiting block.
5. The rail handling robot of claim 3, wherein the support mechanism comprises a support frame disposed on the frame and a guide mechanism disposed between the support frame and the gripper block, wherein the support frame extends along a handling direction of the elevator rail; a guide piece in the guide mechanism is arranged on the clamping seat; and a guide rail in the guide mechanism is arranged on the support frame and extends along the extension direction of the support frame.
6. The rail handling robot of claim 5, wherein the guides are guide wheels mounted on the gripper block and the support frame constitutes the rail.
7. The guide rail handling robot of claim 5, wherein a height adjustment mechanism is further disposed in the support mechanism for driving the support frame to move up and down, and the height adjustment mechanism drives the support frame and the clamping mechanism on the support frame to move up and down, so as to transfer the elevator guide rail on the guide rail storage rack into the clamping mechanism and adjust the height of the elevator guide rail clamped by the clamping mechanism.
8. The rail handling robot of claim 7, wherein the height adjustment mechanism comprises an eccentric wheel mechanism and an eccentric drive mechanism for driving the eccentric wheel mechanism to move, wherein one end of the support frame is hinged to the frame and the other end is connected to the eccentric wheel mechanism; the eccentric wheel mechanism comprises an eccentric wheel frame and an eccentric wheel arranged in the eccentric wheel frame, wherein the eccentric wheel frame is arranged on the supporting frame, and a groove matched with the eccentric wheel is arranged in the eccentric wheel frame; the groove extends in a conveying direction of the elevator guide rail; the clamping seat in the clamping mechanism is connected with the carrying seat through a vertical sliding mechanism, and a sliding block and a sliding rail of the vertical sliding mechanism are respectively arranged on the clamping seat and the carrying seat.
9. The guide rail handling robot of claim 1, wherein the guide rail storage rack comprises a limiting rack arranged on the frame and located at an upper end, and a support bracket located at a lower end, wherein a storage groove is formed in the limiting rack, and the storage groove extends along a length direction of the limiting rack; the upper end of the elevator guide rail is positioned in the storage groove, and the lower end of the elevator guide rail is supported on the support bracket.
10. The rail handling robot of claim 9, wherein the rail storage module further comprises a positioning mechanism disposed on the restraint bracket for positioning each elevator rail on the rail storage bracket, the positioning mechanism releasing the elevator rail when the gripping mechanism grips an elevator rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110824231.4A CN113602792B (en) | 2021-07-21 | 2021-07-21 | Guide rail transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110824231.4A CN113602792B (en) | 2021-07-21 | 2021-07-21 | Guide rail transfer robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113602792A true CN113602792A (en) | 2021-11-05 |
| CN113602792B CN113602792B (en) | 2023-06-06 |
Family
ID=78304970
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110824231.4A Active CN113602792B (en) | 2021-07-21 | 2021-07-21 | Guide rail transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113602792B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140353117A1 (en) * | 2013-05-29 | 2014-12-04 | Daifuku Co., Ltd. | Container conveying carriage and conveying system including a container conveying carriage |
| CN206306268U (en) * | 2016-10-20 | 2017-07-07 | 青岛高测科技股份有限公司 | A kind of upper and lower rod frock of new silicon rod |
| CN206447282U (en) * | 2017-01-17 | 2017-08-29 | 江苏亚太霍夫曼金属打印科技有限公司 | A kind of transfer robot of bar |
| CN107986117A (en) * | 2017-12-13 | 2018-05-04 | 广州明森科技股份有限公司 | A kind of smart card accesses handling device |
| CN207551347U (en) * | 2017-09-27 | 2018-06-29 | 苏州杰锐思自动化设备有限公司 | One kind takes film device |
| CN109205445A (en) * | 2018-11-23 | 2019-01-15 | 燕山大学 | It is a kind of for install cage guide from climbing robot |
| CN208856422U (en) * | 2018-06-14 | 2019-05-14 | 上海米启尔家具有限公司 | A kind of plate automatic charging device |
| CN210619913U (en) * | 2019-08-27 | 2020-05-26 | 李贤明 | Multifunctional hanging basket with guide rail for carrying |
| CN111573295A (en) * | 2020-05-29 | 2020-08-25 | 佛山市通润热能科技有限公司 | Rod feeding machine |
| CN211594821U (en) * | 2020-02-19 | 2020-09-29 | 宁夏有为信息技术有限公司 | Handling device for operation and maintenance of power equipment |
-
2021
- 2021-07-21 CN CN202110824231.4A patent/CN113602792B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140353117A1 (en) * | 2013-05-29 | 2014-12-04 | Daifuku Co., Ltd. | Container conveying carriage and conveying system including a container conveying carriage |
| CN206306268U (en) * | 2016-10-20 | 2017-07-07 | 青岛高测科技股份有限公司 | A kind of upper and lower rod frock of new silicon rod |
| CN206447282U (en) * | 2017-01-17 | 2017-08-29 | 江苏亚太霍夫曼金属打印科技有限公司 | A kind of transfer robot of bar |
| CN207551347U (en) * | 2017-09-27 | 2018-06-29 | 苏州杰锐思自动化设备有限公司 | One kind takes film device |
| CN107986117A (en) * | 2017-12-13 | 2018-05-04 | 广州明森科技股份有限公司 | A kind of smart card accesses handling device |
| CN208856422U (en) * | 2018-06-14 | 2019-05-14 | 上海米启尔家具有限公司 | A kind of plate automatic charging device |
| CN109205445A (en) * | 2018-11-23 | 2019-01-15 | 燕山大学 | It is a kind of for install cage guide from climbing robot |
| CN210619913U (en) * | 2019-08-27 | 2020-05-26 | 李贤明 | Multifunctional hanging basket with guide rail for carrying |
| CN211594821U (en) * | 2020-02-19 | 2020-09-29 | 宁夏有为信息技术有限公司 | Handling device for operation and maintenance of power equipment |
| CN111573295A (en) * | 2020-05-29 | 2020-08-25 | 佛山市通润热能科技有限公司 | Rod feeding machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113602792B (en) | 2023-06-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109987419B (en) | Plate stacking device and plate stacking equipment | |
| CN113173471B (en) | Automatic installation equipment and method for elevator guide rail | |
| JP6773123B2 (en) | Transport system | |
| CN107310908B (en) | Full-automatic automobile side wall conveying system with high positioning accuracy | |
| CN106335787B (en) | Online ceramic tile sorting device and workflow thereof | |
| JP2000255710A (en) | Ceiling conveyer device and article conveying method using the same | |
| CN216105447U (en) | A multi-angle position control device for well elevator construction | |
| CN209023787U (en) | PCB plate putting machine | |
| CN113602792A (en) | Guide rail transfer robot | |
| KR102400858B1 (en) | Steel plate transfer device. | |
| CN106391515B (en) | Ceramic tile on-line sorting device | |
| CN216105451U (en) | Position control device and construction equipment for elevator guide rail installation construction device | |
| CN206316047U (en) | The draw frame machine and ceramic tile on-line sorting device of ceramic tile on-line sorting device | |
| CN113585112B (en) | Automatic installation equipment and method for highway sound insulation screen | |
| CN213053810U (en) | Clamping tool for forming automobile sheet | |
| WO2022080584A1 (en) | Multistage load-adjustable moving cart | |
| CN114319903A (en) | Feeding, assembling and correcting device for assembly building construction | |
| CN216105448U (en) | Guide rail conveying and positioning device | |
| CN113955666A (en) | Elevator installation construction equipment flexible in operation | |
| CN110294392B (en) | Mounting structure and mounting method of car door machine, main connecting support and auxiliary connecting support | |
| CN114684384A (en) | Installation device and installation method of aircraft engine | |
| CN216470177U (en) | Transfer device is used in elevator accessory production | |
| CN114961582B (en) | Automatic drilling device and method for elevator shaft | |
| JP2004155526A (en) | Elevator device | |
| CN217762863U (en) | A multi-angle position control device for well elevator construction |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |