| 摘要 |
According to the invention, the handling robot includes a vertical telescopic mast (11) that comprises: a vertically fixed base (20); and a plurality of sections (21-23) with synchronised movements, said movements being speed- and acceleration-controlled and including a gravity extension movement and a powered retraction movement, each section being individually powered and the last section (23) bearing the head (13) for gripping the products (3) to be palletised. The robot includes a common driving shaft (30) for moving the different sections (21-23), wherein said shaft (30) includes wheels having a diameter adapted to the travel of the section (21-23') they operate, respectively, via transmission members. The transmission members between the wheels (31, 32) and the sections thereof (21, 22) consist of belts that wind up on the corresponding wheel. As for the last section (23) bearing the gripping head, the movement transmission is carried out by chains. A housing (46) receives and stores the free end of each movement transmission chain, and is made in the form of a block with notches each defining a curved helical path. |
