CN206172335U - Smart storage tunnel robot manipulator - Google Patents
Smart storage tunnel robot manipulator Download PDFInfo
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- CN206172335U CN206172335U CN201621200704.4U CN201621200704U CN206172335U CN 206172335 U CN206172335 U CN 206172335U CN 201621200704 U CN201621200704 U CN 201621200704U CN 206172335 U CN206172335 U CN 206172335U
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- rebound
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- 230000007704 transition Effects 0.000 claims description 124
- 238000011084 recovery Methods 0.000 claims description 5
- 239000007787 solid Substances 0.000 claims 1
- 238000006243 chemical reaction Methods 0.000 abstract description 2
- 230000002457 bidirectional effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 7
- 238000010276 construction Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005194 fractionation Methods 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
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Abstract
The utility model discloses a smart storage tunnel robot manipulator, including drive arrangement, panel seat, cross the cab apron, cross the cab apron guide rail, cross cab apron synchronizing wheel group, cross the cab apron hold -in range, fork board, fork board guide rail, cross the cab apron and passed through cab apron guide rail removal setting on the panel seat, the setting of cab apron hold -in range will be crossed on crossing the cab apron to the cooperation around crossing cab apron synchronizing wheel group, and the overall arrangement orientation that made the cab apron hold -in range is corresponding with the moving direction who crosses the cab apron, the middle part of panel seat and the hypomere fixed connection who crosses the cab apron hold -in range, the fork board moves through fork board guide rail and sets up on crossing the cab apron, and its moving direction is corresponding with the moving direction who crosses the cab apron, additionally, the middle part of fork board and the upper segment fixed connection who crosses the cab apron hold -in range, drive arrangement sets up on the panel seat to move according to legend with the mistake cab apron and be connected. The structure scientific and reasonable of this manipulator, the reaction rate is fast, the position accuracy is high, through multilayer linkage design, realizes the high -efficient access goods of manipulator, bidirectional scalability access goods about realizing even.
Description
Technical field
This utility model is related to the construction of robot mechanical arm, more particularly to a kind of intelligent storage tunnel robotic
Handss.
Background technology
Current tunnel robot has many deficiencies when warehouse picking is applied to, not science of such as powering, and causes it
Displacement is restricted, and is not easy layout, and such as travel mechanism arranges unreasonable, causes its fluctuation of service, easily occurs
Skew, in-placing precision not enough cannot accurately send picking, and and for example material fetching mechanism is excessively stiff inflexible, cause to be difficult to control to, feeding not
Surely, efficiency is low, low precision.Wherein, material fetching mechanism is not scientific and reasonable enough, is primarily due to the mechanical hand of current tunnel robot
Scientific and reasonable not enough, still in the form of the crawl of unidirectional mechanically moving, there is complex structure, reaction and delay in this form to majority
Slowly the phenomenons such as goods shakiness, are grabbed；Particularly in intelligent storage application, all there are a shelf both sides in tunnel, and current tunnel machine
People's mechanical hand but can only one-way expansion crawl, so, just cause at least to need Liang Ge tunnels robot to realize to lane
The shelf of road both sides carry out acquisition access.
Utility model content
For above-mentioned deficiency, the purpose of this utility model is, there is provided a kind of intelligent storage tunnel robot mechanical arm, its
Construction is scientific and reasonable, and response speed is fast, positional precision is high, is designed by multilamellar linkage, realizes that mechanical hand efficiently accesses goods, or even
Realize the left and right bi-directional expansion access goods of mechanical hand.
The technical solution adopted in the utility model is：A kind of intelligent storage tunnel robot mechanical arm, including driving means,
Panel seat, rebound, transition panel guide, rebound synchronizing wheel group, rebound Timing Belt, fork plate, fork plate guide rail, it is characterised in that
The rebound is arranged on panel seat by the movement of transition panel guide, coordinates that rebound is same before and after the rebound synchronizing wheel group
Step band is arranged on rebound, and makes the layout direction of rebound Timing Belt corresponding with the moving direction of rebound（In addition, one
As for, the epimere of the rebound Timing Belt is located at rebound top, hypomere and is located at rebound lower section, and it is also not excluded for certainly
He construct, special rebound Timing Belt storage tank is such as set on rebound, as long as meet hypomere be it is corresponding with panel seat, on
Section is corresponding with fork plate）, the middle part of the panel seat is fixedly connected with the hypomere of rebound Timing Belt, and the fork plate is by fork
Panel guide movement is arranged on rebound, and its moving direction is corresponding with the moving direction of rebound, in addition, the fork plate
Middle part is fixedly connected with the epimere of rebound Timing Belt；The driving means are arranged on panel seat, and with the rebound mutually company of transmission
Connect.When robot work links, the driving means drive rebound to move, at the same time, the middle part of panel seat and transition
The hypomere of plate Timing Belt is engaged, and drives rebound Timing Belt to rotate, and the epimere of rebound Timing Belt matches with the middle part of fork plate
Close, drive fork plate to move, finally realize the linkage extension or retraction of rebound and fork plate.
Preferably, when mechanical hand is in middle recovery state, middle part and the rebound Timing Belt of the panel seat
Hypomere middle part be fixedly connected, the middle part of the fork plate is fixedly connected with the middle part of the epimere of rebound Timing Belt；At mechanical hand
When left-hand protracts state, the middle part of the panel seat is fixedly connected with the hypomere right part of rebound Timing Belt, in the fork plate
Portion is fixedly connected with the epimere left part of rebound Timing Belt；When mechanical hand protracts state in dextrad, the middle part of the panel seat
It is fixedly connected with the hypomere left part of rebound Timing Belt, the middle part of the fork plate is fixed with the epimere right part of rebound Timing Belt and connected
Connect.Such set-up mode, enabling to mechanical hand can realize the extension of left and right directions, and the distance phase of left and right directions extension
When.If there is deflection situation when arranging, the distance of mechanical hand left and right directions extension has deviation（It is left long right short or left short
Right length）；The limit is tended to, then mechanical hand just can only protract to a direction linkage.
Preferably, the rebound includes two groups, respectively First Transition plate, the second rebound, in contrast
Should, the transition panel guide includes two groups, respectively First Transition panel guide, the second transition panel guide, the rebound transition
Plate synchronizing wheel group includes two groups, respectively First Transition plate synchronizing wheel group, the second rebound synchronizing wheel group, the rebound synchronization
Band includes two groups, respectively First Transition plate Timing Belt, the second rebound Timing Belt；Wherein, the First Transition plate is by the
The movement of one transition panel guide is arranged on panel seat, is coordinated First Transition plate Timing Belt before and after the First Transition plate synchronizing wheel group
It is arranged on First Transition plate, and makes the layout direction of First Transition plate Timing Belt relative with the moving direction of First Transition plate
Should, the middle part of the panel seat is fixedly connected with the hypomere of First Transition plate Timing Belt, and second rebound passes through the second transition
Panel guide movement is arranged on First Transition plate, and its moving direction is corresponding with the moving direction of First Transition plate, in addition, institute
The middle part for stating the second rebound is fixedly connected with the epimere of First Transition plate Timing Belt, before and after the second rebound synchronizing wheel group
Cooperation is arranged on the second rebound Timing Belt on the second rebound, and makes the layout direction and second of the second rebound Timing Belt
The moving direction of rebound is corresponding, and the middle part of the First Transition plate is fixedly connected with the hypomere of the second rebound Timing Belt,
The fork plate is arranged on the second rebound by the movement of fork plate guide rail, and the moving direction of its moving direction and the second rebound
It is corresponding, in addition, the middle part of the fork plate is fixedly connected with the epimere of the second rebound Timing Belt；The driving means are arranged on
On panel seat, and mutually it is connected with First Transition plate.Here is it should be noted that in principle, the rebound can include two
More than group, correspond, the transition panel guide include it is more than two, the rebound rebound synchronizing wheel group include two groups
More than, the rebound Timing Belt includes more than two.In other words, rebound, transition panel guide, rebound rebound synchronization
The quantity of wheel group, rebound Timing Belt, can be increased and decreased as needed.
Preferably, when mechanical hand is in middle recovery state, the middle part of the panel seat is same with First Transition plate
The hypomere middle part of step band is fixedly connected, and the middle part of second rebound is fixed with the epimere middle part of First Transition plate Timing Belt to be connected
Connect, the hypomere middle part of the middle part of the First Transition plate and the second rebound Timing Belt is fixedly connected, the middle part of the fork plate with
The epimere middle part of the second rebound Timing Belt is fixedly connected；When mechanical hand protracts state in left-hand, the middle part of the panel seat
It is fixedly connected with the hypomere right part of First Transition plate Timing Belt；The middle part of second rebound and First Transition plate Timing Belt
Epimere left part is fixedly connected；The middle part of the First Transition plate is fixedly connected with the hypomere right part of the second rebound Timing Belt；Institute
The middle part for stating fork plate is fixedly connected with the epimere left part of the second rebound Timing Belt；When mechanical hand protracts state in dextrad,
The middle part of the panel seat is fixedly connected with the hypomere left part of First Transition plate Timing Belt；The middle part and first of second rebound
The epimere right part of rebound Timing Belt is fixedly connected；The middle part of the First Transition plate is left with the hypomere of the second rebound Timing Belt
Portion is fixedly connected；The middle part of the fork plate is fixedly connected with the epimere right part of the second rebound Timing Belt.
Preferably, the First Transition plate synchronizing wheel group, First Transition plate Timing Belt are located at First Transition plate
Sidepiece；The second rebound synchronizing wheel group, the second rebound Timing Belt are located at the middle part of the second rebound.
Preferably, the epimere of the First Transition plate Timing Belt is located at First Transition plate top, hypomere and is located at the
One rebound lower section；The epimere of the second rebound Timing Belt is located at the second rebound top, hypomere and is located at the second rebound
Lower section.
Preferably, the middle part of the panel seat is fixedly clamped the hypomere of block and First Transition plate Timing Belt by first
It is fixedly connected；Company is fixed in the middle part of the First Transition plate by the second hypomere for being fixedly clamped block and the second rebound Timing Belt
Connect；The middle part of second rebound is fixedly connected by the first connection fixing block with the epimere of First Transition plate Timing Belt；Institute
The middle part for stating fork plate is fixedly connected by the second connection fixing block with the epimere of the second rebound Timing Belt（The middle part of the fork plate
Directly can also be fixedly connected with the epimere of the second rebound Timing Belt by hole, pin structure）.
Preferably, the driving means include fixed seat, servomotor, travelling gear and driving rack, wherein,
Located at panel seat lower section, in fixed seat, the driving rack is located at rebound lower section to the servomotor to the fixed seat, and
Make the layout direction of driving rack corresponding with the moving direction of rebound, the servomotor is by travelling gear and driving cog
Bar is engaged, and drives rebound to move relative to panel seat.In addition, it is necessary to explanation, its can also including decelerator etc. assisted parts
Part, so that the operation of driving means is with control more preferably.In addition, the driving means are except can be with gear-rack drive, it is also possible to
Belt wheel belt drives, as long as meet driving rebound to move relative to panel seat.
Preferably, the transition panel guide, fork plate guide rail are all cross slideway.
This utility model has advantages below：By driving means, panel seat, rebound, transition panel guide, rebound synchronization
Wheel group, rebound Timing Belt, fork plate, fork plate guide rail cooperate, and realize linkage extension or retraction.Only need to single driving to fill
Put and be just capable of achieving high speed, high-precision access goods, but also left and right bi-directional expansion operation can be realized, more efficiently.
Illustrate below in conjunction with the accompanying drawings and specific embodiment, the utility model is described in further detail.
Description of the drawings
Fig. 1 is the overall structure diagram one of tunnel robot；
Fig. 2 is the overall structure diagram two of tunnel robot；
Fig. 3 is the overall structure diagram of mechanical hand；
Fig. 4 is that mechanical hand hides the overall structure diagram after fork plate；
Fig. 5 is the configuration schematic diagram of mechanical hand；
Fig. 6 is panel seat, rebound, the fit structure schematic diagram one of fork plate；
Fig. 7 is panel seat, rebound, the fit structure schematic diagram two of fork plate；
Fig. 8 is the fractionation structural representation of Fig. 6；
In figure：Horizontal mobile mechanism a；Vertical lifting mechanism b；Mechanical hand c；Industrial computer control system power distribution cabinet d；Panel seat
1；First Transition plate 2；Second rebound 3；First Transition panel guide 4；Second transition panel guide 5；First Transition plate synchronizing wheel group
6；Second rebound synchronizing wheel group 7；First Transition plate Timing Belt 8；Second rebound Timing Belt 9；Fork plate 10；Fork plate guide rail 11；
Fixed seat 12；Servomotor and decelerator 13；Travelling gear 14；Driving rack 15；First is fixedly clamped block 16；First clamps admittedly
Determine block installing hole 17；First connection fixing block 18；Second is fixedly clamped block 19；Second is fixedly clamped block installing hole 20；Second connects
Connect fixed block 21；Second connection fixing block installing hole 22.
Specific embodiment
Referring to Fig. 1 to 2, the intelligent storage tunnel robot mechanical arm that the present embodiment is provided, it passes through support mounting plate
It is arranged in the robot of intelligent storage tunnel（Specifically it is mounted in the vertical lifting mechanism of intelligent storage tunnel robot
On）.Wherein, the intelligent storage tunnel robot includes horizontal mobile mechanism a, vertical lifting mechanism b, mechanical hand c and industry
Computerized control system power distribution cabinet d.
Referring to Fig. 3 to 7, intelligent storage tunnel robot mechanical arm, including driving means, panel seat 1, First Transition plate 2,
Two rebounds 3, First Transition panel guide 4, the second transition panel guide 5, First Transition plate synchronizing wheel group 6, the second rebound synchronization
Wheel group 7, First Transition plate Timing Belt 8, the second rebound Timing Belt 9, fork plate 10, fork plate guide rail 11（The transition panel guide, fork
Panel guide is all cross slideway）.
Specifically, the driving means include fixed seat 12, servomotor and decelerator 13, travelling gear 14 and driving cog
Bar 15, wherein, the fixed seat 12 is located at the lower section of panel seat 1, and the servomotor is located in fixed seat 12 with decelerator 13, described
Driving rack 15 makes the layout direction of driving rack 15 and the moving direction of First Transition plate 2 located at the lower section of First Transition plate 2
Corresponding, the servomotor is engaged by travelling gear 14 with decelerator 13 with driving rack 15, drives First Transition plate 2
Move relative to panel seat 1.
Specifically, the First Transition plate 2 is arranged on panel seat 1 by the movement of First Transition panel guide 4, first mistake
Coordinate before and after cab apron synchronizing wheel group 6 and First Transition plate Timing Belt 8 is arranged on First Transition plate 2, and make First Transition plate same
Step is corresponding with the moving direction of First Transition plate 2 with 8 layout direction, and the middle part of the panel seat 1 is fixedly clamped by first
Block 16 is fixedly connected with the hypomere of First Transition plate Timing Belt 8（Wherein, the middle part of the panel seat 1 is reserved with first and is fixedly clamped
Block installing hole 17.The block that is fixedly clamped clamps Timing Belt, and is fixedly installed on installing hole.）, second rebound 3 is by the
The movement of two transition panel guide 5 is arranged on First Transition plate 2, and its moving direction is relative with the moving direction of First Transition plate 2
Should, in addition, the middle part of second rebound 3 is consolidated by the first connection fixing block 18 with the epimere of First Transition plate Timing Belt 8
Fixed connection（Wherein, the middle part side coil of second rebound 3 is put and is reserved with the first connection fixing block installing hole, in accompanying drawing not
First connection fixing block installing hole is shown）, coordinate the second rebound Timing Belt 9 before and after the second rebound synchronizing wheel group 7
It is arranged on the second rebound 3, and makes the layout direction of the second rebound Timing Belt 9 and the moving direction phase of the second rebound 3
Correspondence, the middle part of the First Transition plate 2 is fixed by the second hypomere for being fixedly clamped the rebound Timing Belt 9 of block 19 and second and is connected
Connect（Wherein, the middle part of the First Transition plate 2 is reserved with second and is fixedly clamped block installing hole 20.Block be fixedly clamped by Timing Belt
Clamp, and be fixedly installed on installing hole.）, the fork plate 10 by fork plate guide rail 11 movement be arranged on the second rebound 3, and
Its moving direction is corresponding with the moving direction of the second rebound 3, in addition, the middle part of the fork plate 10 is connected by second
Block 21 is fixedly connected with the epimere of the second rebound Timing Belt 9（Wherein, the middle part of the fork plate 10 is reserved with and the second rebound
The second connection fixing block installing hole 22 that Timing Belt 9 is fixedly connected）；The driving means are arranged on panel seat, and with the first mistake
Cab apron is mutually connected., wherein it is desired to explanation, the above-mentioned block structure substantially similar with connection fixing block that be fixedly clamped
Part, its objective is that what is set up between panel seat, rebound or fork plate and Timing Belt is fixedly connected relation；Therefore, go the concrete structure can
With ever-changing, flat, it is three-dimensional block, etc. all applicable.
Specifically, the First Transition plate synchronizing wheel group 6, First Transition plate Timing Belt 8 are located at the side of First Transition plate 2
Portion；The second rebound synchronizing wheel group 7, the second rebound Timing Belt 9 are located at the middle part of the second rebound 3.First mistake
The epimere of cab apron Timing Belt 6 is located at the top of First Transition plate 2, hypomere and is located at the lower section of First Transition plate 2；Second rebound is same
Step is located at the top of the second rebound 3, hypomere and is located at the lower section of the second rebound 3 with 9 epimere.
Specifically, when mechanical hand is in middle recovery state, middle part and the First Transition plate Timing Belt 8 of the panel seat 1
Hypomere middle part be fixedly connected, the middle part of second rebound 3 is fixed with the epimere middle part of First Transition plate Timing Belt 8 to be connected
Connect, the middle part of the First Transition plate 2 is fixedly connected with the hypomere middle part of the second rebound Timing Belt 9, in the fork plate 10
Portion is fixedly connected with the epimere middle part of the second rebound Timing Belt 9；When mechanical hand protracts state in left-hand, the panel seat 1
Middle part be fixedly connected with the hypomere right part of First Transition plate Timing Belt 8；The middle part of second rebound 3 and First Transition plate
The epimere left part of Timing Belt 8 is fixedly connected；The middle part of the First Transition plate 2 and the hypomere right part of the second rebound Timing Belt 9
It is fixedly connected；The middle part of the fork plate 10 is fixedly connected with the epimere left part of the second rebound Timing Belt 9；When mechanical hand is in the right side
During to extension state, the middle part of the panel seat 1 is fixedly connected with the hypomere left part of First Transition plate Timing Belt 8；Second mistake
The middle part of cab apron 3 is fixedly connected with the epimere right part of First Transition plate Timing Belt 8；The middle part and second of the First Transition plate 2
The hypomere left part of rebound Timing Belt 9 is fixedly connected；The middle part of the fork plate 10 and the epimere right part of the second rebound Timing Belt 9
It is fixedly connected.
This utility model is not limited to above-mentioned embodiment, using identical with this utility model above-described embodiment or approximate
Technical characteristic, and other intelligent storage tunnel robot mechanical arms for obtaining, within protection domain of the present utility model.
Claims (9)
1. a kind of intelligent storage tunnel robot mechanical arm, including driving means, panel seat, rebound, transition panel guide, rebound
Synchronizing wheel group, rebound Timing Belt, fork plate, fork plate guide rail, it is characterised in that the rebound is set by the movement of transition panel guide
Put on panel seat, coordinate before and after the rebound synchronizing wheel group and rebound Timing Belt is arranged on rebound, and make rebound
The layout direction of Timing Belt is corresponding with the moving direction of rebound, and the middle part of the panel seat is consolidated with the hypomere of rebound Timing Belt
Fixed connection, the fork plate is arranged on rebound by the movement of fork plate guide rail, and the moving direction of its moving direction and rebound
It is corresponding, in addition, the middle part of the fork plate is fixedly connected with the epimere of rebound Timing Belt；The driving means are arranged on panel seat
On, and be mutually connected with rebound.
2. intelligent storage tunnel according to claim 1 robot mechanical arm, it is characterised in that when mechanical hand is in centre
During recovery state, the middle part of the panel seat is fixedly connected with the hypomere middle part of rebound Timing Belt, the middle part of the fork plate and mistake
The epimere middle part of cab apron Timing Belt is fixedly connected；When mechanical hand protracts state in left-hand, the middle part of the panel seat and transition
The hypomere right part of plate Timing Belt is fixedly connected, and the middle part of the fork plate is fixedly connected with the epimere left part of rebound Timing Belt；When
When mechanical hand is in dextrad extension state, the middle part of the panel seat is fixedly connected with the hypomere left part of rebound Timing Belt, described
The middle part of fork plate is fixedly connected with the epimere right part of rebound Timing Belt.
3. intelligent storage tunnel according to claim 1 robot mechanical arm, it is characterised in that the rebound includes two
Group, respectively First Transition plate, the second rebound, correspond, and the transition panel guide includes two groups, respectively the first mistake
Cab apron guide rail, the second transition panel guide, the rebound rebound synchronizing wheel group includes two groups, respectively First Transition plate synchronization
Wheel group, the second rebound synchronizing wheel group, the rebound Timing Belt include two groups, respectively First Transition plate Timing Belt, second
Rebound Timing Belt；Wherein, the First Transition plate is arranged on panel seat by the movement of First Transition panel guide, first mistake
Coordinate before and after cab apron synchronizing wheel group and First Transition plate Timing Belt is arranged on First Transition plate, and make First Transition plate Timing Belt
Layout direction it is corresponding with the moving direction of First Transition plate, the middle part of the panel seat and the hypomere of First Transition plate Timing Belt
It is fixedly connected, second rebound is arranged on First Transition plate by the movement of the second transition panel guide, and its moving direction
It is corresponding with the moving direction of First Transition plate, in addition, the middle part of second rebound is upper with First Transition plate Timing Belt
Section is fixedly connected, and coordinates before and after the second rebound synchronizing wheel group and for the second rebound Timing Belt to be arranged on the second rebound
On, and make the layout direction of the second rebound Timing Belt corresponding with the moving direction of the second rebound, the First Transition plate
Middle part be fixedly connected with the hypomere of the second rebound Timing Belt, the fork plate by fork plate guide rail movement be arranged on the second transition
On plate, and its moving direction is corresponding with the moving direction of the second rebound, in addition, the middle part of the fork plate and the second rebound
The epimere of Timing Belt is fixedly connected；The driving means are arranged on panel seat, and are mutually connected with First Transition plate.
4. intelligent storage tunnel according to claim 3 robot mechanical arm, it is characterised in that when mechanical hand is in centre
During recovery state, the middle part of the panel seat is fixedly connected with the hypomere middle part of First Transition plate Timing Belt, second rebound
The epimere middle part of middle part and First Transition plate Timing Belt be fixedly connected, the middle part of the First Transition plate is same with the second rebound
The hypomere middle part of step band is fixedly connected, and the middle part of the fork plate is fixedly connected with the epimere middle part of the second rebound Timing Belt；When
When mechanical hand is in left-hand extension state, the middle part of the panel seat is fixedly connected with the hypomere right part of First Transition plate Timing Belt；
The middle part of second rebound is fixedly connected with the epimere left part of First Transition plate Timing Belt；The middle part of the First Transition plate
It is fixedly connected with the hypomere right part of the second rebound Timing Belt；The middle part of the fork plate is left with the epimere of the second rebound Timing Belt
Portion is fixedly connected；When mechanical hand protracts state in dextrad, the middle part of the panel seat and the hypomere of First Transition plate Timing Belt
Left part is fixedly connected；The middle part of second rebound is fixedly connected with the epimere right part of First Transition plate Timing Belt；Described
The middle part of one rebound is fixedly connected with the hypomere left part of the second rebound Timing Belt；The middle part of the fork plate and the second rebound
The epimere right part of Timing Belt is fixedly connected.
5. intelligent storage tunnel according to claim 3 robot mechanical arm, it is characterised in that the First Transition plate is same
The sidepiece of step wheel group, First Transition plate Timing Belt located at First Transition plate；The second rebound synchronizing wheel group, the second rebound
Timing Belt is located at the middle part of the second rebound.
6. intelligent storage tunnel according to claim 3 robot mechanical arm, it is characterised in that the First Transition plate is same
The epimere of step band is located at First Transition plate top, hypomere and is located at First Transition plate lower section；The second rebound Timing Belt it is upper
Section is located at the second rebound top, hypomere and is located at the second rebound lower section.
7. intelligent storage tunnel according to claim 3 robot mechanical arm, it is characterised in that the middle part of the panel seat leads to
Cross first block that is fixedly clamped to be fixedly connected with the hypomere of First Transition plate Timing Belt；The middle part of the First Transition plate passes through second
The block that is fixedly clamped is fixedly connected with the hypomere of the second rebound Timing Belt；The middle part of second rebound is solid by the first connection
Determine block to be fixedly connected with the epimere of First Transition plate Timing Belt；The middle part of the fork plate is by the second connection fixing block and the second mistake
The epimere of cab apron Timing Belt is fixedly connected.
8. the intelligent storage tunnel robot mechanical arm according to one of claim 1-7, it is characterised in that the driving dress
Put including fixed seat, servomotor, travelling gear and driving rack, wherein, the fixed seat is located at panel seat lower section, the servo
In fixed seat, the driving rack makes layout direction and the rebound of driving rack to motor located at rebound lower section
Moving direction is corresponding, and the servomotor is engaged by travelling gear with driving rack, drives rebound to move with respect to panel seat
It is dynamic.
9. the intelligent storage tunnel robot mechanical arm according to one of claim 1-7, it is characterised in that the rebound
Guide rail, fork plate guide rail are all cross slideway.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621200704.4U CN206172335U (en) | 2016-11-04 | 2016-11-04 | Smart storage tunnel robot manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621200704.4U CN206172335U (en) | 2016-11-04 | 2016-11-04 | Smart storage tunnel robot manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206172335U true CN206172335U (en) | 2017-05-17 |
Family
ID=58682234
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621200704.4U Expired - Fee Related CN206172335U (en) | 2016-11-04 | 2016-11-04 | Smart storage tunnel robot manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206172335U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106429149A (en) * | 2016-11-04 | 2017-02-22 | 惠州市精机械设备有限公司 | Manipulator of intelligent warehousing roadway robot |
| CN108033188A (en) * | 2018-01-22 | 2018-05-15 | 合肥工业大学 | A kind of Double-stroke shuttle Shen Cha mechanisms |
| CN110734006A (en) * | 2019-10-25 | 2020-01-31 | 台州风达机器人科技有限公司 | multi-layer type transfer robot |
| CN111086869A (en) * | 2018-10-24 | 2020-05-01 | 日本电产三协株式会社 | Hand of industrial robot and industrial robot |
| WO2024061057A1 (en) * | 2022-09-23 | 2024-03-28 | 深圳市海柔创新科技有限公司 | Pallet assembly, fork apparatus, and warehousing robot |
-
2016
- 2016-11-04 CN CN201621200704.4U patent/CN206172335U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106429149A (en) * | 2016-11-04 | 2017-02-22 | 惠州市精机械设备有限公司 | Manipulator of intelligent warehousing roadway robot |
| CN106429149B (en) * | 2016-11-04 | 2019-04-23 | 广东易库智能仓储设备科技有限公司 | A kind of intelligent storage tunnel robot mechanical arm |
| CN108033188A (en) * | 2018-01-22 | 2018-05-15 | 合肥工业大学 | A kind of Double-stroke shuttle Shen Cha mechanisms |
| CN108033188B (en) * | 2018-01-22 | 2024-02-27 | 合肥工业大学 | Double-stroke shuttle fork extending mechanism |
| CN111086869A (en) * | 2018-10-24 | 2020-05-01 | 日本电产三协株式会社 | Hand of industrial robot and industrial robot |
| CN111086869B (en) * | 2018-10-24 | 2021-10-22 | 日本电产三协株式会社 | Hand of industrial robot and industrial robot |
| CN110734006A (en) * | 2019-10-25 | 2020-01-31 | 台州风达机器人科技有限公司 | multi-layer type transfer robot |
| WO2024061057A1 (en) * | 2022-09-23 | 2024-03-28 | 深圳市海柔创新科技有限公司 | Pallet assembly, fork apparatus, and warehousing robot |
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Effective date of registration: 20170810 Address after: 523000 Guangdong province Dongguan Nancheng Hongfu Street No. 200, the first international meeting a city office building No. 4 No. 1009 Patentee after: GUANGDONG YIKU INTELLIGENT STORAGE EQUIPMENT TECHNOLOGY CO.,LTD. Address before: The town of Shiwan city of Huizhou province Boluo 516127 Guangdong County Water Leaper Village Industrial Zone Patentee before: HUIZHOU JINGYI MACHINERY EQUIPMENT CO.,LTD. |
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Effective date of registration: 20191202 Address after: The town of Shiwan city of Huizhou province Boluo 516000 Guangdong County Water Leaper Village Industrial Zone Patentee after: HUIZHOU JINGYI MACHINERY EQUIPMENT CO.,LTD. Address before: 523000 Guangdong province Dongguan Nancheng Hongfu Street No. 200, the first international meeting a city office building No. 4 No. 1009 Patentee before: GUANGDONG YIKU INTELLIGENT STORAGE EQUIPMENT TECHNOLOGY CO.,LTD. |
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