CN207329719U - Manipulator - Google Patents
Manipulator Download PDFInfo
- Publication number
- CN207329719U CN207329719U CN201720556420.7U CN201720556420U CN207329719U CN 207329719 U CN207329719 U CN 207329719U CN 201720556420 U CN201720556420 U CN 201720556420U CN 207329719 U CN207329719 U CN 207329719U
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- China
- Prior art keywords
- axis
- motor
- slide
- manipulator
- slideway
- 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.)
- Expired - Fee Related
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- 238000003032 molecular docking Methods 0.000 claims description 4
- 241001170716 Garra gotyla Species 0.000 claims description 3
- 238000010521 absorption reaction Methods 0.000 description 5
- 241000894007 species Species 0.000 description 4
- 230000006978 adaptation Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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
-
- 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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- De-Stacking Of Articles (AREA)
Abstract
The utility model is on a kind of manipulator, for article of taking in automatic vending machine and/or warehouse.Including：Sucker, for holding article；Slide unit, is connected with the afterbody of the sucker；Screw, the screwed through hole centrally disposed through the slide unit；Connecting rod, one end are provided with through hole, and the top for making the screw passes through；Slide, is fixedly connected with the other end of connecting rod, parallel with the screw, and is slidably connected with slide unit；Supporting table, it is vertical with the slide, it is fixedly connected with the bottom of the slide, and it is vertical with the connecting rod direction；Lifting motor, is fixedly installed in the top of the connecting rod, and shaft is docked with being fixed by the screw of the connection rod through-hole；Runner assembly, is slidably connected with the supporting table along Z axis；Base, slides along X-axis with the runner assembly and transfers.
Description
Technical field
It the utility model is related to machinery field, more particularly to manipulator.
Background technology
At present, with the development of automatic technology, mechanical equipment can replace manually being produced and being worked, such as manipulator
It can replace manually being produced and being worked, precision is stronger, dynamics bigger.In automatic vending field, common automatic vending machine
The device that middle control article is sold, which is generally, keeps off the baffle before article, and after user buys article, the baffle before the article moves
Dynamic or baffle is put down, and article can drop from pallet and be dropped out from output port.
And not having a automatic vending machine at present from being taken article with manipulator, manipulator takes article can be by article
Placement is more hidden, and without being to obstruct article and user by transparency window, article can be placed on any position inside automatic vending machine
Put, the security of article is stronger.
Following problem exists in the prior art in the inventor of the utility model：Article directly falls from automatic vending machine
Fall.
Utility model content
To overcome problem present in correlation technique, the utility model provides a kind of manipulator, for automatic vending machine and/
Or article of taking in warehouse.
The utility model embodiment provides a kind of manipulator, including：
Sucker, for holding article；
Slide unit, is connected with the afterbody of the sucker；
Screw, the screwed through hole centrally disposed through the slide unit；
Connecting rod, one end are provided with through hole, and the top for making the screw passes through；
Slide, is fixedly connected with the other end of connecting rod, parallel with the screw, and is slidably connected with slide unit；
Supporting table, it is vertical with the slide, it is fixedly connected with the bottom of the slide, and hang down with the connecting rod direction
Directly；
Lifting motor, is fixedly installed in the top of the connecting rod, shaft and the silk by the connection rod through-hole
Bar fixes docking；
Runner assembly, is slidably connected with the supporting table along Z axis；
Base, slides along X-axis with the runner assembly and transfers.
By making sucker be moved along X-axis, Y-axis and Z axis, after being moved to the position of respective articles, sucker draws article, then
The article of absorption is put into output port, realizes the purpose by sucker picking, due to passing through sucker picking.
Further, the runner assembly, including：
Superior platforms component, is slidably connected with the supporting table along Z axis；
Subordinate's platform, is slidably connected with the base along X-axis；
Runner, connects the superior platforms component and subordinate's platform；
The superior platforms component is rotatablely connected with subordinate's platform by the runner.
Runner assembly is installed in the robot, and superior platforms component and subordinate's platform are rotatablely connected by runner, is made
Level platform assembly can be rotated so as to which expand sucker takes thing scope, so as to increase the space of storage article, so as to
To increase the species of storage article and quantity.
Further, further include：
Rotary electric machine, is installed on below the base；
Belt, is connected with the rotary electric machine and the runner respectively；
The rotary electric machine drives the runner to rotate by belt.
Runner is driven to rotate by rotary electric machine and belt, it is achieved thereby that driving the mesh of sucker rotation by rotary electric machine
, so as to increase the space of storage article, so as to increase the species of storage article and quantity.
Further, including：
X-axis motor, is installed on below the base；
X-axis moves screw, and one end is connected with the shaft of the X-axis motor；
Encoder, is fixedly connected with the other end of X-axis movement screw；
X-axis movable block, with being fixedly connected below subordinate's platform, inside is provided with through hole, and screw is moved for the X axis
Rotate through；
X-axis slide rail, including：X-axis slideway and X-axis guide rail, are installed on the base, wherein, the X-axis guide rail fixes peace
Loaded on above the base, the X-axis slideway is fixedly installed in below subordinate's platform, and the X-axis slideway is slided with X-axis guide rail
Dynamic connection.
Moving screw and X-axis slide rail by X-axis motor, X-axis makes X-axis movable block move along the x-axis screw movement, and X-axis is moved
Motion block is fixed with subordinate platform, so when X-axis movable block is moving along the x-axis screw movement, drives subordinate's platform movement, so that
Sucker is driven to move along the x-axis screw movement, and encoder can determine the displacement of X-axis slide block movement, it is achieved thereby that by sucker
Designated position is moved to, facilitates sucker to draw article in specified location.
Further, the superior platforms component, including：
Superior platforms, contact with the supporting table；
Z axis slide rail, including：Z axis slideway and Z axis guide rail, are installed on both sides of the superior platforms along Z axis, wherein, two
The Z axis guide rail is fixedly installed in the superior platforms both sides, and two Z axis slideways are fixedly connected with the supporting table, the Z axis
Slideway is slidably connected with Z axis guide rail；
Two rubber tires, are respectively arranged in center of the superior platforms along the both ends of X-axis；
Conveyer belt, around described two rubber tires, and connects with two rubber tires.
Supporting table is slided by Z axis slide rail in superior platforms along Z axis, so that sucker can be slided along Z axis, and two
Rubber tire can drive the article for being pulled on superior platforms by sucker to move with conveyer belt, also square so as to fulfill the purpose for article of taking
Just sucker drives article to be moved along Z-direction.
Further, the supporting table is " door " shape, and described two Z axis slideways are fixedly installed in the supporting table " door " two
The inner side of vertical edge.
Z axis slideway is fixedly mounted in the inner side of two vertical edge of supporting table " door ", the slideway in supporting table is put down with higher level
The guide rail of platform both sides coordinates, and facilitates supporting table to be slided in superior platforms, and is installed on the inside of supporting table and also improves supporting table
Fastness between superior platforms.
Further, further include：
Z axis motor, is installed on by the superior platforms, the shaft of the Z axis motor with respectively with the Z axis slide rail and one
A rubber tire connection.
Z axis motor is connected with Z axis slide rail and a rubber tire respectively, makes Z axis pulley drive the speed of belt identical with rubber tire,
So that translational speed of the sucker with article in superior platforms is identical, article is facilitated to be moved in superior platforms.
Further, further include：
Force aid part, is " n " shape, and a line of " n " shape is installed on the upper part of the slide, the another a line peace of " n " shape
Loaded on the runner assembly side.
Force aid part produces restorable power after deforming upon, so as to drive slide to return to original position, so as to further facilitate
Sucker drives article to be moved in superior platforms.
Further, further include：
Motor slide rail, including：Motor slideway and motor slide rails, are installed on by the supporting table, are put down with the sucker direction
OK, wherein, the motor slideway is slidably connected with the motor slide rails；
Thing motor is taken, it is parallel with the sucker, and be fixedly installed on the motor slideway；
Rotating the needle, is fixedly connected with the shaft for taking thing motor, consistent with the direction on the sucker head；
Mobile motor, is installed on by the motor slide rail, and shaft is connected with the motor slideway, and electricity is driven when shaft rotates
Machine slideway is moved along the motor slide rails.
Taking thing motor to coordinate with other assemblies on automatic vending machine can be moved to article in the inner part at sucker position,
And mobile motor can drive and take thing motor to move along motor slide rail thing motor will be taken to be moved to designated position, facilitate sucker to draw
Article.
Further, including：
Two take thing motor, are fixed on backwards on motor slide rail.
Set two to take thing motor to make to take thing motor and the mechanism of front and rear storage cargo to coordinate, facilitate sucker from both sides
Absorption article.
It should be appreciated that the general description and following detailed description of the above are only exemplary and explanatory, not
The utility model can be limited.
Brief description of the drawings
Attached drawing herein is merged in specification and forms the part of this specification, shows and meets the utility model
Embodiment, and be used to together with specification to explain the principle of the utility model.
Fig. 1 is a kind of structure chart for manipulator that the utility model embodiment provides.
Fig. 2 a are a kind of structure charts for manipulator that the utility model embodiment provides.
Fig. 2 b are a kind of structure charts for manipulator that the utility model embodiment provides.
Fig. 2 c are a kind of structure charts for manipulator that the utility model embodiment provides.
Embodiment
Here exemplary embodiment will be illustrated in detail, its example is illustrated in the accompanying drawings.Following description is related to
During attached drawing, unless otherwise indicated, the same numbers in different attached drawings represent the same or similar key element.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the utility model.On the contrary, they be only with such as
The example of the consistent apparatus and method of some aspects be described in detail in the appended claims, the utility model.
As shown in Figure 1, the utility model embodiment provides a kind of manipulator, including：
Sucker 101, for holding article；
Slide unit 102, is connected with the afterbody of sucker 101；
Screw 103, the screwed through hole centrally disposed through slide unit 102；
Connecting rod 104, one end is provided with through hole, and the top for making screw 103 passes through；
Slide 105, is fixedly connected with the other end of connecting rod 104, parallel with screw 103, and slides and connect with slide unit 102
Connect；
Supporting table 106, it is vertical with slide 105, it is fixedly connected with the bottom of slide 105, and hang down with 104 direction of connecting rod
Directly；
Lifting motor 106, is fixedly installed in the top of connecting rod 104, and shaft is fixed with the screw by being connected rod through-hole
Docking；
Runner assembly 107, is slidably connected with supporting table 106 along Z axis；
Base 108, slides along X-axis with runner assembly 107 and transfers.
The utility model embodiment provides a kind of manipulator, by making sucker be moved along X-axis, Y-axis and Z axis, is moved to
Behind the position of respective articles, sucker draws article, and the article of absorption then is put into output port, is realized by sucker picking
Purpose.
In one embodiment, runner assembly, including：
Superior platforms component, is slidably connected with supporting table along Z axis；
Subordinate's platform, is slidably connected with base along X-axis；
Runner, connects superior platforms component and subordinate's platform；
Superior platforms component is rotatablely connected with subordinate platform by runner.
In the present embodiment, runner assembly is installed in the robot, and by runner be rotatablely connected superior platforms component with
Subordinate's platform, rotates superior platforms component so as to which expand sucker takes thing scope, so as to increase storage article
Space, so as to increase the species of storage article and quantity.
In one embodiment, further include：
Rotary electric machine, is installed on below base；
Belt, is connected with rotary electric machine and runner respectively；
Rotary electric machine drives runner to rotate by belt.
In the present embodiment, runner is driven to rotate by rotary electric machine and belt, it is achieved thereby that passing through rotary electric machine band
The purpose that dynamic sucker rotates, so as to increase the space of storage article, so as to increase the species of storage article and quantity.
In one embodiment, including：
X-axis motor, is installed on below base；
X-axis moves screw, and one end is connected with the shaft of X-axis motor；
Encoder, is fixedly connected with the other end of X-axis movement screw；
X-axis movable block, is fixedly connected with subordinate's platform lower section, and inside is provided with through hole, is rotated through for X-axis movement screw；
X-axis slide rail, including：X-axis slideway and X-axis guide rail, are installed on base, wherein, X-axis guide rail is fixedly installed in base
Top, X-axis slideway are fixedly installed in below subordinate's platform, and X-axis slideway is slidably connected with X axis rails.
In the present embodiment, X-axis movable block is made to move along the x-axis screw by X-axis motor, X-axis movement screw and X-axis slide rail
It is mobile, and X-axis movable block is fixed with subordinate platform, so when X-axis movable block is moving along the x-axis screw movement, drive subordinate
Platform moves, so that drive sucker to move along the x-axis screw movement, and encoder can determine the displacement of X-axis slide block movement, so that
Realize and sucker is moved to designated position, facilitate sucker to draw article in specified location.
In one embodiment, superior platforms component, including：
Superior platforms, contact with supporting table；
In the present embodiment, Z axis slide rail, including：Z axis slideway and Z axis guide rail, are installed on both sides of the superior platforms along Z axis,
Wherein, two Z axis guide rails are fixedly installed in superior platforms both sides, and two Z axis slideways are fixedly connected with supporting table, Z axis slideway and Z
Axis rail is slidably connected；
Two rubber tires, are respectively arranged in center of the superior platforms along the both ends of X-axis；
Conveyer belt, around two rubber tires, and connects with two rubber tires.
In the present embodiment, supporting table is slided by Z axis slide rail in superior platforms along Z axis, so that sucker can be along Z
Axis slides, and two rubber tires can drive the article for being pulled on superior platforms by sucker to move with conveyer belt, so as to fulfill thing of taking
The purpose of product, is also convenient for sucker and drives article to be moved along Z-direction.
In one embodiment, supporting table is " door " shape, and two Z axis slideways are fixedly installed in two vertical edge of supporting table " door "
Inner side.
In the present embodiment, Z axis slideway is fixedly mounted in the inner side of two vertical edge of supporting table " door ", makes the slideway in supporting table
It can coordinate with the guide rail of superior platforms both sides, facilitate supporting table to be slided in superior platforms, and be installed on the inside of supporting table
Improve the fastness between supporting table and superior platforms.
In one embodiment, further include：
Z axis motor, is installed on by superior platforms, and the shaft of Z axis motor with Z axis slide rail and a rubber tire with being connected respectively.
In the present embodiment, Z axis motor is connected with Z axis slide rail and a rubber tire respectively, Z axis pulley is driven skin with rubber tire
The speed of band is identical, so that translational speed of the sucker with article in superior platforms is identical, facilitates article to be moved to higher level and puts down
On platform.
In one embodiment, further include：
Force aid part, is " n " shape, and a line of " n " shape is installed on the upper part of slide, and the another a line of " n " shape is installed on
Runner assembly side.
In the present embodiment, restorable power is produced after force aid part deforms upon, so that drive slide to return to original position, from
And further facilitate sucker and drive article to be moved in superior platforms.
In one embodiment, further include：
Motor slide rail, including：Motor slideway and motor slide rails, are installed on by supporting table, parallel with sucker direction, wherein,
Motor slideway is slidably connected with motor slide rails；
Thing motor is taken, it is parallel with sucker, and be fixedly installed on motor slideway；
Rotating the needle, the shaft with taking thing motor is fixedly connected, consistent with the direction on sucker head.
Mobile motor, is installed on by motor slide rail, and shaft is connected with motor slideway, and motor slideway edge is driven when shaft rotates
Motor slide rails move.
In the present embodiment, take thing motor with other assemblies on automatic vending machine to coordinate article in the inner part can be moved
To at sucker position, and mobile motor can drive and take thing motor to move along motor slide rail thing motor will be taken to be moved to specific bit
Put, facilitate sucker to draw article.
In one embodiment, including：
Two take thing motor, are fixed on backwards on motor slide rail.
In the present embodiment, two are set to take thing motor to make to take thing motor and the mechanism of front and rear storage cargo to coordinate,
Facilitate absorption article of the sucker from both sides.
Above example describes a kind of manipulator provided in this embodiment, and machine is explained in detail below by specific embodiment
The structure of tool hand.
As shown in Fig. 2, the utility model embodiment provides a kind of manipulator, including：
Sucker 201, for holding article；
Slide unit 202, is connected with the afterbody of sucker 201；
Screw 203, the screwed through hole centrally disposed through slide unit 202；
Connecting rod 204, one end is provided with through hole, and the top for making screw 203 passes through；
Slide 205, is fixedly connected with the other end of connecting rod 204, parallel with screw, and is slidably connected with slide unit；
Supporting table 206, it is vertical with slide 205, it is fixedly connected with the bottom of slide 205, and hang down with 204 direction of connecting rod
Directly；
Lifting motor 207, is fixedly installed in the top of connecting rod 204, shaft and the screw by 204 through hole of connecting rod
203 fix docking；
Runner assembly 208, is slidably connected with supporting table 206 along Z axis；
Base 209, slides along X-axis with runner assembly 208 and transfers；
Runner assembly 208, including：
Superior platforms component 2081, is slidably connected with supporting table 206 along Z axis；
Superior platforms component 2081, including：Superior platforms 20811, contact with supporting table 206；
Z axis slide rail 20812, including：Z axis slideway and Z axis guide rail, are installed on both sides of the superior platforms 20811 along Z axis, its
In, two Z axis guide rails are fixedly installed in superior platforms both sides, and two Z axis slideways are fixedly connected with supporting table, Z axis slideway and Z axis
Guide rail is slidably connected；
Two rubber tires 20813, are respectively arranged in center of the superior platforms 20811 along the both ends of X-axis；
Conveyer belt 20814, around two rubber tires 20813, and connects with two rubber tires 20813；
Supporting table 206 is " door " shape, and two Z axis slideways are fixedly installed in the inner side of two vertical edge of supporting table 206 " door "；
Z axis motor 20815, is installed on by superior platforms, the shaft of Z axis motor with respectively with Z axis slide rail and a rubber tire
Connection；
Subordinate's platform 2082, is slidably connected with base 209 along X-axis；
Runner 2083, connection superior platforms component 2081 and subordinate's platform 2082；
Superior platforms component 2081 is rotatablely connected with subordinate platform 2082 by runner 2083；
Rotary electric machine 210, is installed on the lower section of base 209；
Belt 211, is connected with rotary electric machine 210 and runner 2083 respectively；
Rotary electric machine 210 drives runner 2083 to rotate by belt 211；
X-axis motor 212, is installed on the lower section of base 209；
X-axis moves screw 213, and one end is connected with the shaft of X-axis motor 212；
Encoder 214, is fixedly connected with the other end of X-axis movement screw 213；
X-axis movable block 215, is fixedly connected with the lower section of subordinate platform 2082, and inside is provided with through hole, and screw is moved for X axis
213 rotate through；
X-axis slide rail 216, including：X-axis slideway and X-axis guide rail, are installed on base 209, wherein, X-axis guide rail is fixedly mounted
Above base, X-axis slideway is fixedly installed in below subordinate's platform, and X-axis slideway is slidably connected with X-axis guide rail；
Force aid part 217, is " n " shape, and a line of " n " shape is installed on the upper part of slide 205, the another a line of " n " shape
It is installed on 208 side of runner assembly；
Motor slide rail 218, including：Motor slideway and motor slide rails, are installed on by supporting table 208, are put down with 201 direction of sucker
OK, wherein, motor slideway is slidably connected with motor slide rails；
Thing motor 219 is taken, it is parallel with sucker 201, and be fixedly installed on motor slideway 216；
Rotating the needle 220, the shaft with taking thing motor 217 are fixedly connected, consistent with the direction on 201 head of sucker；
Mobile motor 221, is installed on by motor slide rail 218, and shaft is connected with motor slideway, and shaft drives motor when rotating
Slideway is moved along motor slide rails；
Two take thing motor 219, are fixed on backwards on motor slide rail 218.
The utility model embodiment provides a kind of manipulator, by making sucker be moved along X-axis, Y-axis and Z axis, is moved to
Behind the position of respective articles, sucker draws article, and the article of absorption then is put into output port, is realized by sucker picking
Purpose.
Those skilled in the art will readily occur to this practicality after considering specification and putting into practice utility model disclosed herein
New other embodiments.This application is intended to cover any variations, uses, or adaptations of the utility model, these
Variations, uses, or adaptations follow the general principle of the utility model and including undocumented skills of the utility model
Common knowledge or conventional techniques in art field.Description and embodiments be considered only as it is exemplary, the utility model
True scope and spirit are pointed out by following claim.
It should be appreciated that the accurate knot that the utility model is not limited to be described above and is shown in the drawings
Structure, and various modifications and changes may be made without departing from the scope thereof.The scope of the utility model only will by appended right
Ask to limit.
Claims (10)
- A kind of 1. manipulator, it is characterised in that including：Sucker, for holding article；Slide unit, is connected with the afterbody of the sucker；Screw, the screwed through hole centrally disposed through the slide unit；Connecting rod, one end are provided with through hole, and the top for making the screw passes through；Slide, is fixedly connected with the other end of connecting rod, parallel with the screw, and is slidably connected with slide unit；Supporting table, it is vertical with the slide, it is fixedly connected with the bottom of the slide, and it is vertical with the connecting rod direction；Lifting motor, is fixedly installed in the top of the connecting rod, shaft by the screw of the connection rod through-hole with consolidating Fixed docking；Runner assembly, is slidably connected with the supporting table along Z axis；Base, slides along X-axis with the runner assembly and transfers.
- 2. manipulator as claimed in claim 1, it is characterised in that the runner assembly, including：Superior platforms component, is slidably connected with the supporting table along Z axis；Subordinate's platform, is slidably connected with the base along X-axis；Runner, connects the superior platforms component and subordinate's platform；The superior platforms component is rotatablely connected with subordinate's platform by the runner.
- 3. manipulator as claimed in claim 2, it is characterised in that further include：Rotary electric machine, is installed on below the base；Belt, is connected with the rotary electric machine and the runner respectively；The rotary electric machine drives the runner to rotate by belt.
- 4. manipulator as claimed in claim 2, it is characterised in that including：X-axis motor, is installed on below the base；X-axis moves screw, and one end is connected with the shaft of the X-axis motor；Encoder, is fixedly connected with the other end of X-axis movement screw；X-axis movable block, with being fixedly connected below subordinate's platform, inside is provided with through hole, is worn for X-axis movement screw rotation Cross；X-axis slide rail, including：X-axis slideway and X-axis guide rail, are installed on the base, wherein, the X-axis guide rail is fixedly installed in Above the base, the X-axis slideway is fixedly installed in below subordinate's platform, and the X-axis slideway is slided with X-axis guide rail to be connected Connect.
- 5. manipulator as claimed in claim 2, it is characterised in that the superior platforms component, including：Superior platforms, contact with the supporting table；Z axis slide rail, including：Z axis slideway and Z axis guide rail, are installed on both sides of the superior platforms along Z axis, wherein, described in two Z axis guide rail is fixedly installed in the superior platforms both sides, and two Z axis slideways are fixedly connected with the supporting table, the Z axis slideway It is slidably connected with Z axis guide rail；Two rubber tires, are respectively arranged in center of the superior platforms along the both ends of X-axis；Conveyer belt, around described two rubber tires, and connects with two rubber tires.
- 6. manipulator as claimed in claim 5, it is characterised in that the supporting table is " door " shape, and described two Z axis slideways are consolidated Dingan County is loaded on the inner side of two vertical edge of the supporting table " door ".
- 7. manipulator as claimed in claim 5, it is characterised in that further include：Z axis motor, is installed on by the superior platforms, the shaft of the Z axis motor with respectively with the Z axis slide rail and an institute State rubber tire connection.
- 8. manipulator as claimed in claim 1, it is characterised in that further include：Force aid part, is " n " shape, and a line of " n " shape is installed on the upper part of the slide, and the another a line of " n " shape is installed on The runner assembly side.
- 9. manipulator as claimed in claim 1, it is characterised in that further include：Motor slide rail, including：Motor slideway and motor slide rails, are installed on by the supporting table, parallel with the sucker direction, its In, the motor slideway is slidably connected with the motor slide rails；Thing motor is taken, it is parallel with the sucker, and be fixedly installed on the motor slideway；Rotating the needle, is fixedly connected with the shaft for taking thing motor, consistent with the direction on the sucker head；Mobile motor, is installed on by the motor slide rail, and shaft is connected with the motor slideway, drives motor to slide when shaft rotates Moved along the motor slide rails in road.
- 10. manipulator as claimed in claim 9, it is characterised in that including：Two take thing motor, are fixed on backwards on motor slide rail.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720556420.7U CN207329719U (en) | 2017-05-18 | 2017-05-18 | Manipulator |
| HK18106343.1A HK1246574A2 (en) | 2017-05-18 | 2018-05-16 | Manipulator |
| PCT/CN2018/087236 WO2018210291A1 (en) | 2017-05-18 | 2018-05-17 | Robotic arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720556420.7U CN207329719U (en) | 2017-05-18 | 2017-05-18 | Manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207329719U true CN207329719U (en) | 2018-05-08 |
Family
ID=62376351
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720556420.7U Expired - Fee Related CN207329719U (en) | 2017-05-18 | 2017-05-18 | Manipulator |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN207329719U (en) |
| HK (1) | HK1246574A2 (en) |
| WO (1) | WO2018210291A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018210291A1 (en) * | 2017-05-18 | 2018-11-22 | 北京华沁智联科技有限公司 | Robotic arm |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114476548A (en) * | 2022-02-16 | 2022-05-13 | 上海坚睿实业有限公司 | Special trigger of going up of planer-type stone material back of body net |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2602622A1 (en) * | 1976-01-24 | 1977-07-28 | Kaspar Klaus | Travelling glass plate conveyor - has horizontal arm on frame with cradle carrying suction cups movable along arm |
| NL1000675C2 (en) * | 1995-06-27 | 1996-12-31 | Ebm Techniek Bv | Transfer device and assembly of transfer devices. |
| EP2495193B1 (en) * | 2011-03-04 | 2013-02-27 | UHLMANN PAC-SYSTEME GmbH & Co. KG | Container discharging apparatus |
| CN104310037B (en) * | 2014-10-30 | 2016-11-23 | 芜湖杰诺科技有限公司 | A kind of indexable Handling device of leakage test clamping discharging all-in-one |
| KR20160121752A (en) * | 2015-04-10 | 2016-10-20 | 현대중공업 주식회사 | Transfer robot with multi arm |
| CN105398807B (en) * | 2015-12-14 | 2017-06-30 | 苏州索力旺新能源科技有限公司 | Diode self-feeding feeding device |
| CN205441987U (en) * | 2016-04-12 | 2016-08-10 | 山东科技大学 | Glass loads and unloads car |
| CN105883374A (en) * | 2016-06-20 | 2016-08-24 | 建湖恒华机电有限公司 | Corner transporter |
| CN106553048B (en) * | 2016-12-01 | 2018-10-09 | 李帅 | The blade guard feed mechanism of mower blade shield automatic charging machine |
| CN106581962A (en) * | 2016-12-23 | 2017-04-26 | 张家港久益机械有限公司 | Automatic blanking device of leather gluing edging machine |
| CN106514639B (en) * | 2016-12-31 | 2019-09-13 | 深圳大宇精雕科技有限公司 | Manipulator |
| CN207329719U (en) * | 2017-05-18 | 2018-05-08 | 北京华沁智联科技有限公司 | Manipulator |
-
2017
- 2017-05-18 CN CN201720556420.7U patent/CN207329719U/en not_active Expired - Fee Related
-
2018
- 2018-05-16 HK HK18106343.1A patent/HK1246574A2/en not_active IP Right Cessation
- 2018-05-17 WO PCT/CN2018/087236 patent/WO2018210291A1/en not_active Ceased
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018210291A1 (en) * | 2017-05-18 | 2018-11-22 | 北京华沁智联科技有限公司 | Robotic arm |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018210291A1 (en) | 2018-11-22 |
| HK1246574A2 (en) | 2018-09-07 |
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