CN105945935A - Multi-unit linear driving three-range-of-motion loading robot - Google Patents
Multi-unit linear driving three-range-of-motion loading robot Download PDFInfo
- Publication number
- CN105945935A CN105945935A CN201610463317.8A CN201610463317A CN105945935A CN 105945935 A CN105945935 A CN 105945935A CN 201610463317 A CN201610463317 A CN 201610463317A CN 105945935 A CN105945935 A CN 105945935A
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- China
- Prior art keywords
- revolute pair
- loading
- robot
- swing arm
- connecting rod
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
- B65G65/04—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with pick-up shovels
Abstract
A multi-unit linear driving three-range-of-motion loading robot comprises a multi-unit linear driving mechanism, a movable arm lifting mechanism, a fork bucket control mechanism and the like. Full-rod design is adopted for an executing mechanism of the loading robot, controllable motors drive an electric transmission system to provide power, a hydraulic transmission system of an existing hydraulic loading machine is canceled, and thus transmission efficiency is high, energy consumption is low, and reliability performance is good. Under the control of a computer, the multi-unit linear driving mechanism of the robot achieves driving with the multiple low-power motors and high-capacity and high-torque power output, and the heavy-load operation power requirement of the loading robot is met. The loading robot not only has the same characteristics of high transmission efficiency, a high response speed, high motion accuracy, good controllability and the like as a previous controllable loading mechanism but also has better load bearing performance due to the introduction of the multi-unit linear driving mechanism. Large-sized and middle-sized loading robots can be manufactured in this way.
Description
Technical field
The present invention relates to loader field, particularly a kind of multiple-unit linear drives three mobility loads robot.
Background technology
Loader is that one is widely used in the construction fields such as farmland, water conservancy, the energy, municipal administration, carry out the key equipment of loose unpacked material handling, infrastructure construction is played an important role, but conventional hydraulic formula loader also exists the shortcomings such as energy consumption is high, noise is big, exhaust emissions is serious, intelligent level is low.Controllable mechanism is the product that traditional mechanism is combined with electronic technology, " a numerical control generation " equipment Innovation project carried out in recent years, opportunity is brought to the upgrading of Traditional project mechanical technique, shortcoming for fluid pressure type loader, controllable mechanism and robot correlation technique are applied in working device of loader design, propose a class controllable mechanism loader, such controllable loading mechanism avoids the use of hydraulic system, it is made up of multiple degrees of freedom linkage and multiple controllable motor, the controllable motor that its output motion is controlled by multiple stage computer programming together decides on, the output trajectory of scraper bowl is the function of independent variable more than, complicated flexible track output can be realized easily, therefore controllable loading mechanism belongs to construction robot category.Comparing fluid pressure type loader, controllable loading mechanism has the advantages such as intelligence degree height, good, the high transmission efficiency of flexibility ratio, has great importance for propelling loading machine greenization, intellectuality.
But, during controllable loading mechanism is carried out engineering Application Research, it was found that a series of engineering problems not related to, wherein, bearing capacity difference is the most prominent engineering roadblock of restriction controllable loading mechanism engineer applied.Owing to existing controllable loading mechanism swing arm lifting side chain uses the configuration design form of driving lever connecting rod swing arm, because driving lever is by controllable electric transmission system drives, it is limited by the problems such as controllable motor cost is high, output is little, moment of torsion is low, cause the problems such as existing controllable loading mechanism power performance is poor, load capacity is weak, it is difficult to meet the power demand of loader, the configuration design form causing existing controllable loading mechanism is only applicable to microminiature loader, has had a strong impact on the engineer applied of controllable loading mechanism.
Summary of the invention
The problem that it is an object of the invention to prior art existence provides a kind of multiple-unit linear drives three mobility to load robot, both had that existing controllable loading mechanism intelligence degree is high, flexibility ratio is good, transmission efficiency advantages of higher, solve the engineering problems such as existing controllable loading mechanism power performance is poor, load capacity is weak simultaneously, make this loading robot have preferable dynamic performance and bearing capacity.
The present invention reaches above-mentioned purpose by the following technical programs: a kind of multiple-unit linear drives three mobility of the present invention loads robot, including multiple-unit straight line driving mechanism, swing arm elevating mechanism, scraper bowl controlling organization and frame.
Described multiple-unit straight line driving mechanism is made up of the first linear actuator, the second linear actuator, bent axle, described bent axle is connected with frame by the first revolute pair, the second revolute pair, described first linear actuator one end is connected with frame by the 3rd revolute pair, the other end is connected with bent axle by the 4th revolute pair, described second linear actuator one end is connected with frame by the 5th revolute pair, and the other end is connected with bent axle by the 6th revolute pair.Described first linear actuator, the second linear actuator are servo electric jar.
Described multiple-unit straight line driving mechanism is under the control of a computer system, can be by after the power coupling of multiple stage small-power linear actuator, high-power, the purpose of high torque power output is realized by bent axle, solve the problems such as tradition controllable loading mechanism controllable motor cost is high, power is little, driving torque is low, improve the bearing capacity of this loading robot.According to the power demand loading robot, described bent axle can be driven by two groups and above linear actuator, can be to facilitate the selection multiple power unit form such as Unit four, Unit six, it is ensured that the output power of this multiple-unit straight line driving mechanism can meet the power demand of large, medium and small type all kinds of loading robot.
Described swing arm elevating mechanism includes swing arm, first lifting side chain and the second lifting side chain, described swing arm passes through the 7th revolute pair, 8th revolute pair is connected with frame, described first lifting side chain includes first connecting rod, second connecting rod, described first connecting rod one end is connected by key or alternate manner are fixing with bent axle, the other end is connected with second connecting rod one end by the 9th revolute pair, the described second connecting rod other end is connected with swing arm by the tenth revolute pair, described second lifting side chain includes third connecting rod, fourth link, described third connecting rod one end is connected by key or alternate manner are fixing with bent axle, the other end is connected with fourth link one end by the 11st revolute pair, the described fourth link other end is connected with swing arm by the 12nd revolute pair.
When this loading robot actual job, swing arm elevating mechanism is driven by multiple-unit straight line driving mechanism, because multiple-unit straight line driving mechanism by after multiple stage small-power controllable motor power coupling by bent axle for swing arm upgrading mechanism provide power, the bearing capacity of swing arm elevating mechanism is greatly improved, meet this loading robot and manufacture and design the power demand of large and medium-sized loading robot, compare the dynamical system of existing fluid pressure type loader, there is preferable reliability.
Described scraper bowl controlling organization includes driving lever, pull bar, scraper bowl.Described driving lever one end is connected with frame by the 13rd revolute pair, the other end is connected with pull bar one end by the 14th revolute pair, the described pull bar other end is connected with scraper bowl by the 15th revolute pair, and described scraper bowl is connected with swing arm by the 16th revolute pair, the 17th revolute pair.Described driving lever is driven controlling by electric drive system by controllable motor, and scraper bowl realizes flip-flop movement under the drive of driving lever.
Described a kind of multiple-unit linear drives three mobility loads the scraper bowl output motion of robot and is together decided on by driving lever, the first linear actuator, the second linear actuator, under the coordination of computer system controls, completes loading operation.This loading robot not only has the features such as intelligence degree is high, energy consumption is low, maintaining is simple, and compare existing controllable loading mechanism, there is more preferable dynamic performance, bearing capacity and the more preferable reliability brought, it is adaptable to manufacture large, medium and small type all kinds of loading robot.
The present invention has the prominent advantages that:
1, this loading robot uses brand-new configuration design, meeting needed for loading operation under degree of freedom and work space requirement, having preferable kinesiology and dynamic performance, swing arm elevating mechanism, by using plane-parallel type to design, greatly improves the rigidity loading robot.This loading robot had both had the features such as controllable mechanism loader energy consumption is low, transmission efficiency is high, intelligence degree is high, good reliability, solved the engineering roadblocks such as controllable loading mechanism electric drive system output is little, moment of torsion is low simultaneously.
2, the electric drive system that this loading robot uses computer programming to control is driven, and not only has higher intelligent level, it is achieved that operation NC postprocessing, and improves transmission efficiency, reduces energy consumption, there is no exhaust emissions.In the design of this robot, use connecting rod transmission power, avoid the problems such as hydraulic system transmission efficiency is low, decrease the problems such as easily the breaking down of Hydraulic Elements, maintaining expense are high, compare fluid pressure type engineering machinery and there is longer service life and higher reliability.
3, comparing existing controllable loading mechanism, loading robot of the present invention has higher bearing capacity and adaptability.The introducing of multiple-unit straight line driving mechanism, is greatly improved the bearing capacity of this loading robot, is particularly well-suited to manufacture large and medium-sized engineering construction robot；This multiple-unit straight line driving mechanism has stronger power adaptability, the driving side chain of the varying number such as Unit four, Unit six according to different power demand, can be selected to drive, meet all kinds of loading robots power demand.
Accompanying drawing explanation
Fig. 1 is that a kind of multiple-unit linear drives three mobility of the present invention loads robot schematic diagram.
Fig. 2 is that a kind of multiple-unit linear drives three mobility of the present invention loads robot frame's schematic diagram.
Fig. 3 is one of multiple-unit straight line driving mechanism schematic diagram of the present invention.
Fig. 4 is the two of multiple-unit straight line driving mechanism schematic diagram of the present invention.
Fig. 5 is multiple-unit straight line driving mechanism bent axle schematic diagram of the present invention.
Fig. 6 is swing arm elevating mechanism schematic diagram of the present invention.
Fig. 7 is scraper bowl controlling organization schematic diagram of the present invention.
Fig. 8 is that a kind of multiple-unit linear drives three mobility of the present invention loads robot plan view.
Fig. 9 is that schematic diagram manually made by a kind of multiple-unit linear drives three mobility loading machine of the present invention.
Detailed description of the invention
Below by way of drawings and Examples, technical scheme is described further.
Comparison Fig. 1, a kind of multiple-unit linear drives three mobility of the present invention loads robot, including multiple-unit straight line driving mechanism, swing arm elevating mechanism, scraper bowl controlling organization and frame 1.
Comparison Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, described multiple-unit straight line driving mechanism is made up of first linear actuator the 3, second linear actuator 7, bent axle 5, described bent axle 5 is connected with frame 1 by first revolute pair the 9, second revolute pair 10, described first linear actuator 3 one end is connected with frame 1 by the 3rd revolute pair 2, the other end is connected with bent axle 5 by the 4th revolute pair 4, described second linear actuator 7 one end is connected with frame 1 by the 5th revolute pair 8, and the other end is connected with bent axle 5 by the 6th revolute pair 6.Described first linear actuator the 3, second linear actuator 7 is servo electric jar.
Described multiple-unit straight line driving mechanism is under the control of a computer system, can be by after the power coupling of multiple stage small-power linear actuator, high-power, the purpose of high torque power output is realized by bent axle 5, solve the problems such as tradition controllable loading mechanism controllable motor cost is high, power is little, driving torque is low, improve the bearing capacity of this loading robot.According to the power demand loading robot, described bent axle 5 can be driven by two groups and above linear actuator, can be to facilitate the selection multiple power unit form such as Unit four, Unit six, it is ensured that the output power of this multiple-unit straight line driving mechanism can meet the power demand of large, medium and small type all kinds of loading robot.
nullComparison Fig. 1、Fig. 2、Fig. 6，Described swing arm elevating mechanism includes swing arm 15、First lifting side chain and the second lifting side chain，Described swing arm 15 is by the 7th revolute pair 22、8th revolute pair 23 is connected with frame 1，Described first lifting side chain includes first connecting rod 11、Second connecting rod 13，Described first connecting rod 11 one end is connected by key or alternate manner are fixing with bent axle 5，The other end is connected with second connecting rod 13 one end by the 9th revolute pair 12，Described second connecting rod 13 other end is connected with swing arm 15 by the tenth revolute pair 14，Described second lifting side chain includes third connecting rod 21、Fourth link 19，Described third connecting rod 21 one end is connected by key or alternate manner are fixing with bent axle 5，The other end is connected with fourth link 19 one end by the 11st revolute pair 20，Described fourth link 19 other end is connected with swing arm 15 by the 12nd revolute pair 18.
When this loading robot actual job, swing arm elevating mechanism is driven by multiple-unit straight line driving mechanism, because multiple-unit straight line driving mechanism by after multiple stage small-power controllable motor power coupling by bent axle 5 for swing arm upgrading mechanism provide power, the bearing capacity of swing arm elevating mechanism is greatly improved, meet this loading robot and manufacture and design the power demand of large and medium-sized loading robot, compare the dynamical system of existing fluid pressure type loader, there is preferable reliability.
Comparison Fig. 1, Fig. 2, Fig. 7, described scraper bowl controlling organization includes driving lever 25, pull bar 27, scraper bowl 29.Described driving lever 25 one end is connected with frame 1 by the 13rd revolute pair 24, the other end is connected with pull bar 27 one end by the 14th revolute pair 26, described pull bar 27 other end is connected with scraper bowl 29 by the 15th revolute pair 28, and described scraper bowl 29 is connected with swing arm 15 by the 16th revolute pair the 16, the 17th revolute pair 17.Described driving lever 25 is driven controlling by electric drive system by controllable motor, and scraper bowl 29 realizes flip-flop movement under the drive of driving lever 25.
Comparison Fig. 1, Fig. 8, Fig. 9, described a kind of multiple-unit linear drives three mobility loads the scraper bowl 29 output motion of robot and is together decided on by driving lever the 25, first linear actuator the 3, second linear actuator 7, under the coordination of computer system controls, complete loading operation.This loading robot not only has the features such as intelligence degree is high, energy consumption is low, maintaining is simple, and compare existing controllable loading mechanism, there is more preferable dynamic performance, bearing capacity and the more preferable reliability brought, it is adaptable to manufacture large, medium and small type all kinds of loading robot.
Claims (2)
1. multiple-unit linear drives three mobility loads a robot, including multiple-unit straight line driving mechanism, swing arm elevating mechanism, scraper bowl controlling organization and frame, it is characterised in that:
Described multiple-unit straight line driving mechanism is made up of the first linear actuator, the second linear actuator, bent axle, described bent axle is connected with frame by the first revolute pair, the second revolute pair, described first linear actuator one end is connected with frame by the 3rd revolute pair, the other end is connected with bent axle by the 4th revolute pair, described second linear actuator one end is connected with frame by the 5th revolute pair, the other end is connected with bent axle by the 6th revolute pair
Described swing arm elevating mechanism includes swing arm, first lifting side chain and the second lifting side chain, described swing arm passes through the 7th revolute pair, 8th revolute pair is connected with frame, described first lifting side chain includes first connecting rod, second connecting rod, described first connecting rod one end is fixing with bent axle to be connected, the other end is connected with second connecting rod one end by the 9th revolute pair, the described second connecting rod other end is connected with swing arm by the tenth revolute pair, described second lifting side chain includes third connecting rod, fourth link, described third connecting rod one end is fixing with bent axle to be connected, the other end is connected with fourth link one end by the 11st revolute pair, the described fourth link other end is connected with swing arm by the 12nd revolute pair,
Described scraper bowl controlling organization includes driving lever, pull bar, scraper bowl, described driving lever one end is connected with frame by the 13rd revolute pair, the other end is connected with pull bar one end by the 14th revolute pair, the described pull bar other end is connected with scraper bowl by the 15th revolute pair, and described scraper bowl is connected with swing arm by the 16th revolute pair, the 17th revolute pair.
2., according to claim 1, described a kind of multiple-unit linear drives three mobility loads robot, it is characterised in that: described driving lever is driven controlling by controllable motor, and described first linear actuator, the second linear actuator are servo electric jar.
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| CN201610463317.8A CN105945935A (en) | 2016-06-24 | 2016-06-24 | Multi-unit linear driving three-range-of-motion loading robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106493721A (en) * | 2016-11-30 | 2017-03-15 | 航天科工智能机器人有限责任公司 | Joint of robot Hydraulic servo drive mechanism |
| RU2754121C1 (en) * | 2017-11-14 | 2021-08-26 | Хай Роботикс Ко., Лтд. | Loading and unloading robot and method for taking stock keeping unit using loading and unloading robot |
| RU2772360C2 (en) * | 2017-11-14 | 2022-05-19 | Хай Роботикс Ко., Лтд. | Loading and unloading robot |
| US11396424B2 (en) | 2017-11-14 | 2022-07-26 | Hai Robotics Co., Ltd. | Handling robot |
| US11465840B2 (en) | 2017-11-14 | 2022-10-11 | Hai Robotics Co., Ltd. | Handling robot |
| US11542135B2 (en) | 2019-02-01 | 2023-01-03 | Hai Robotics Co., Ltd. | Handling robot |
| US11597598B2 (en) | 2019-02-01 | 2023-03-07 | Hai Robotics Co., Ltd. | Handling robot |
| CN116077144A (en) * | 2023-04-10 | 2023-05-09 | 艺柏湾医疗科技(上海)有限公司 | Transmission device and multi-degree-of-freedom surgical instrument |
| US11655099B2 (en) | 2017-11-14 | 2023-05-23 | Hai Robotics Co., Ltd. | Handling robot |
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| US11542135B2 (en) | 2019-02-01 | 2023-01-03 | Hai Robotics Co., Ltd. | Handling robot |
| US11597598B2 (en) | 2019-02-01 | 2023-03-07 | Hai Robotics Co., Ltd. | Handling robot |
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| CN116077144A (en) * | 2023-04-10 | 2023-05-09 | 艺柏湾医疗科技(上海)有限公司 | Transmission device and multi-degree-of-freedom surgical instrument |
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