CN101987450A - Intelligent sampling robot side door swinging manipulator - Google Patents
Intelligent sampling robot side door swinging manipulator Download PDFInfo
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- CN101987450A CN101987450A CN2009101624957A CN200910162495A CN101987450A CN 101987450 A CN101987450 A CN 101987450A CN 2009101624957 A CN2009101624957 A CN 2009101624957A CN 200910162495 A CN200910162495 A CN 200910162495A CN 101987450 A CN101987450 A CN 101987450A
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- drive assembly
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Abstract
The invention relates to an intelligent sampling robot side door swinging manipulator which comprises a rotating mechanism, a drive assembly, a delivery mechanism and a linkage shaft. The intelligent sampling robot side door swinging manipulator is characterized in that the delivery mechanism is a cylindrical steel pipe, the bottom surface is an oblique tangent plane, and the lengths of all walls at periphery are different; a charging mechanism, a discharging mechanism, a material bin and an elastic ball locking mechanism are arranged on the delivery mechanism; the charging mechanism is arranged on the upper end of the delivery mechanism; the corresponding lower side of the charging mechanism is provided with the discharging mechanism; the charging mechanism and the discharging mechanism form the material bin; and the elastic ball locking mechanism is arranged on the joint position of the lower parts of the longest walls of the discharging mechanism and the delivery mechanism. In summary, the intelligent sampling robot side door swinging manipulator of the invention has the advantages of high performance, high flexible performance, fixed charging and discharging, high abrasion resistance, and the like.
Description
Technical field
The present invention relates to a kind of manipulator, be specifically related to a kind of intellegent sampling robot side spinning door manipulator.
Background technology
The factory's coal of going into of at present domestic electric power enterprise is all used semi-automatic sampling or manual selecting materials and pan feeding, and several the Sampling Machine in the thermal power plant of Asia maximum also are like this.On average about 10,000 tons, so huge quantity with coal will be wasted a lot of labours for power plant coal consumption every day.And the sampling coal instrument of existence on the market is manual operation or semi-automatic operation now, in the sampling sample making course, can not play a comprehensive full automatic workflow, and when selecting materials, can utilize the leak earning illicit gain in the business administration, there is very big infringement in whole enterprise with pan feeding.So be badly in need of a kind of full automatic selecting materials and the manipulator of feeding device of increasing work efficiency now.
Summary of the invention
At the problems referred to above, the objective of the invention is to propose a kind of intellegent sampling robot side spinning door manipulator.
For achieving the above object, the present invention takes following technical scheme:
A kind of intellegent sampling robot side spinning door manipulator, form by rotating mechanism, drive assembly, connecting gear and couple axle, described connecting gear is a cylinder steel pipe, the bottom surface is a scarf, the length difference of each wall all around is provided with simultaneously charge mechanism, shedding mechanism, feed bin and elastic force pearl lockable mechanism on connecting gear; Described charge mechanism is located at the upper end of connecting gear, at the corresponding downside of described charge mechanism is shedding mechanism, described charge mechanism and shedding mechanism constitute feed bin, and elastic force pearl lockable mechanism is located on the bonding station of the longwell bottom of shedding mechanism and connecting gear.
Described charge mechanism offers charging door in a side of the shortwall of connecting gear, on the correspondence position of described charging door, be provided with lading door, charging door adopts the nested gap of two cylinders to install with lading door, the nested cooperation in the position of charging door and lading door realizes closure or opening by the power drive lading door that top rotating mechanism and drive assembly hand down.
Described shedding mechanism is made up of a discharge door and a hinge, and described discharge door is a circular baffle plate of blocking connecting gear bottom scarf; On the top of shedding mechanism, on the position of the relative discharge door of shortwall of connecting gear, be provided with described hinge, hinge is a circular ball,
The shortwall at described hinge place is provided with a downward groove, simultaneously on discharge door and the contacted position of hinge, also be provided with a downward groove, when discharge door close fashionable, two sides of hinge can be fastened on the inboard, shortwall lower end of the inboard and connecting gear of discharge door, make the tighter of discharge door closure.
The discharge door inboard of described shedding mechanism bottom has adopted the cylinder slope to push away the compound straight platform design of platform; Described device for discharging bottom discharge outer side of door tip has been adopted curvilinear columns tangent plane design and has been revolved the design of curve vertebra shape, guaranteed to material with type adaptability, again equipment has been carried out effective protection.
Described elastic force pearl lockable mechanism mainly is made of spring, steel ball and back-up ring, the described steel ball of one end of described elastic force pearl lockable mechanism is fastened on the centre of described discharge door and the longwell lower engagement face of connecting gear by the thrust of described spring, the other end of elastic force pearl lockable mechanism by described back-up ring backstop in the longwell bottom of connecting gear, described back-up ring is fixed on the longwell bottom of connecting gear by nut, and connects the pass that a servo-drive system controls discharge door in described elastic force pearl lockable mechanism outside and close.
Described feed bin adopts the design of short column tube, and the diagonally opposing corner length of described lading door is forever less than feed bin inside diameter and height; Described feed bin selects for use stainless steel or other equivalent material to make.
The upper end of described connecting gear is provided with the screwed hole that is connected with drive assembly, and described drive assembly outside is provided with outer tube, and connecting gear is fixed by the screwed hole of the outer tube lower end of nut and drive assembly; The rotating mechanism outside is provided with arm, is provided with screwed hole in the arm lower end, the corresponding screwed hole that on the drive assembly outer tube, also is provided with, and rotating mechanism and drive assembly are fixed together by nut; Described couple axle is located at the centre of described rotating mechanism and described drive assembly.
The upper end of described arm is provided with the outer connector of positive six shapes, and outer connector is connected with external component by nut; End on arm top is provided with motor, and motor provides power for whole manipulator.
The present invention is owing to take above technical scheme, and it has the following advantages:
1, charge mechanism of the present invention is installed according to the nested gap of two cylinders, has adopted the nested cooperation of charging door and has realized switch closure by lading door, and the mobility of whole charge mechanism is improved.
2, shedding mechanism of the present invention adopts the cylinder slope to push away the compound straight platform design of platform, both guaranteed that manipulator was in rotary course, no matter run into great frictional resistance, also can not come off, guaranteed that again the device for discharging switch can open Lou material flexibly and not voluntarily because of revolving force is impaired.
3, the discharge door bottom tip of shedding mechanism of the present invention adopts the design of curvilinear columns tangent plane and revolves the design of curve vertebra shape, two kinds of designs guaranteed manipulator to material with type adaptability (bulk noncombustibility, frozen soil, sticking material etc.), again equipment is effectively protected.
4, elastic force pearl lockable mechanism of the present invention is located accurately, in narrow space, gives the powerful locking power of device for discharging, guarantees that device for discharging can not fall or omit material naturally, convenient again the unlatching, and use is durable for a long time repeatedly.
Description of drawings
Fig. 1 is a whole profile of the present invention.
Fig. 2 is the profile of connecting gear of the present invention.
Fig. 3 is that cylinder slope of the present invention pushes away the compound straight platform design diagram of platform.
The specific embodiment
Below in conjunction with drawings and Examples the present invention is described in detail.
As shown in Figure 1, a kind of intellegent sampling of the present invention robot side spinning door manipulator, form by rotating mechanism 1, drive assembly 2, connecting gear 3 and couple axle 4, wherein rotating mechanism 1 is located at the top of connecting gear 3, rotating mechanism 1 is connected by drive assembly 2 with connecting gear 3, and described couple axle 4 is located at the centre of rotating mechanism 1 and drive assembly 2.
Be provided with the screwed hole that is connected with drive assembly 2 in the upper end of described connecting gear 3, drive assembly 2 outsides are provided with outer tube 21, and connecting gear 3 is fixed by the screwed hole of outer tube 21 lower ends of nut and drive assembly 2; Rotating mechanism 1 outside is provided with arm 11, is provided with screwed hole in arm 11 lower ends, correspondingly also is provided with screwed hole on drive assembly 2 outer tubes 21, and rotating mechanism 1 and drive assembly 2 are fixed together by nut; Be provided with the outer connector of positive six shapes in the upper end of arm 11, outer connector is connected with external component by nut; End on arm 11 tops is provided with motor 12, and motor 12 provides power for whole manipulator.
As shown in Figure 2, described connecting gear 3 is a cylinder steel pipe, and the bottom surface is a scarf, and the length difference of each wall all around is provided with simultaneously charge mechanism 31, shedding mechanism 32, feed bin 33 and elastic force pearl lockable mechanism 34 on connecting gear 3.
Wherein said charge mechanism 31 offers charging door 311 in a side of the shortwall of connecting gear 3, on the correspondence position of charging door 311, be provided with lading door 312, charging door 311 adopts the nested gap of two cylinders to install with lading door 312, charging door 311 and the nested cooperation in the position of lading door 312 are worn the power drive lading door 312 that comes by top rotating mechanism 1 and drive assembly 2 and are realized closure or opening.
In the corresponding bottom of described charge mechanism 31 is described shedding mechanism 32, and wherein shedding mechanism 32 is made up of a discharge door 321 and a hinge 322, and described discharge door 321 is a circular baffle plate of blocking connecting gear 3 bottom scarves; Top at shedding mechanism 32, on the position of the relative discharge door 321 of shortwall of connecting gear 3, be provided with described hinge 322, hinge 322 is a circular ball, on the shortwall at hinge 322 places, be provided with a downward groove 323, on discharge door 321 and hinge 322 contacted positions, also be provided with a downward groove 324 simultaneously, it is fashionable to work as discharge door 321 passes like this, two sides of hinge 322 can be fastened on the inboard, shortwall lower end of the inboard and connecting gear 3 of discharge door 321, make the tighter of discharge door 321 closures, can not spill Powdered or liquid object; As shown in Figure 3, the discharge door 321 of described shedding mechanism 32 bottoms has adopted the cylinder slope to push away the compound straight platform design of platform, lower inside at shedding mechanism 32, discharge door 321 is integrally formed with a upwards raised face (RF), on the top of raised face (RF) is the A point, on the position of the relative connecting gear 3 longwells of A point is the B point, lower end at raised face (RF) is, the C point, at the relative connecting gear 3 longwell bottommosts of C point is the D point, when discharge door 321 motions are, A, C point moves along the curvilinear path on Fig. 3, with right mutually close with B, D point, but does not influence stroke; Tip, device for discharging 32 bottom discharge doors, 321 outside has also been adopted the design of curvilinear columns tangent plane and has been revolved the design of curve vertebra shape; two kinds of designs guaranteed manipulator of the present invention to material with type adaptability (bulk noncombustibility, frozen soil, sticking material etc.), again equipment is effectively protected.Shedding mechanism 32 is responsible for depositing coal and unloading coal according to the intention of system, and when discharge door 321 was opened, shedding mechanism 32 was in the state of unloading coal, and when discharge door 321 closures, shedding mechanism 32 is in deposits the coaly attitude.
Junction surface in the longwell bottom of described discharge door 321 and connecting gear 3 is provided with described elastic force pearl lockable mechanism 34, elastic force pearl lockable mechanism 34 is mainly by spring 341, steel ball 342 and back-up ring 343 constitute, the thrust of one end steel ball 342 of elastic force pearl lockable mechanism 34 by spring 341 is fastened on the centre of the longwell lower engagement face of discharge door 321 and connecting gear 3, the other end of elastic force pearl lockable mechanism 34 by back-up ring 343 backstops in the middle of the longwell bottom of connecting gear 3, back-up ring 343 is fixed on connecting gear 3 longwell bottoms by nut, and connects the pass that a servo-drive system controls discharge door 321 in elastic force pearl lockable mechanism 34 outsides and close.Make elastic force pearl lockable mechanism 34 location accurately by said structure, in narrow space, give the big locking power of the device for discharging Final 32, guarantee that device for discharging can not fall or omit material naturally, convenient again the unlatching used repeatedly, and be durable for a long time.
The part that surrounds in the middle of charge mechanism 31 and the shedding mechanism 32 is a feed bin 33, and described feed bin 33 adopts the design of short column tube, and the diagonally opposing corner length of described lading door 312 is forever less than feed bin 33 inside diameters and height; In addition, on material, select for use the material of stainless steel 1Cr18Ni9Ti or other model to make,, guaranteed that a material is the same so no matter piece material, powder, water, mud all can not be detained, in addition, device for discharging adopts slope to push away the compound straight platform elastic force pearl switch designs of platform, has both guaranteed no matter manipulator in rotary course, runs into great frictional force, can impairedly not come off yet, guaranteed that again the device for discharging switch can open Lou material flexibly and not voluntarily, the whole system simple, intuitive, equipment can be durable in use.
When charge mechanism 3 operations, can feed by switch closure and refuse according to the intention of system and feed, side spinning door manipulator so of the present invention does not rotate toward the direction to guarantee that material produces the power of a closure to charge mechanism if do not need to feed, the side spinning door manipulator so of the present invention of feeding if desired keeps off in the feed bin 33 to power of opening of charge mechanism generation and with material to guarantee material towards the rotation of another one direction, at this moment discharge door 321 is closed, when receiving outside signal, elastic force pearl lockable mechanism 34 can promote discharge door 321, the material of feed bin 33 the insides is discharged, when receiving signal once more, discharge door 321 closes and closes.
In sum, equipment integral body of the present invention has also adopted modularized design, and the improvement of any part or maintain and replace are not all needed entire equipment is changed, and has guaranteed that promptly economy has guaranteed operating efficiency again; In addition, present device is whole to adopt round-the-clock design, no matter under any extreme weather conditions (non-artificial destruction), all can work calmly.
The present invention only describes with the foregoing description; the structure of each parts, the position is set and connects and all can change to some extent; on the basis of technical solution of the present invention; all improvement and equivalents of individual component being carried out according to the principle of the invention all should not got rid of outside protection scope of the present invention.
Claims (9)
1. intellegent sampling robot side spinning door manipulator, form by rotating mechanism, drive assembly, connecting gear and couple axle, it is characterized in that: described connecting gear is a cylinder steel pipe, the bottom surface is a scarf, the length difference of each wall all around is provided with simultaneously charge mechanism, shedding mechanism, feed bin and elastic force pearl lockable mechanism on connecting gear; Described charge mechanism is located at the upper end of connecting gear, at the corresponding downside of described charge mechanism is shedding mechanism, described charge mechanism and shedding mechanism constitute feed bin, and elastic force pearl lockable mechanism is located on the bonding station of the longwell bottom of shedding mechanism and connecting gear.
2. a kind of intellegent sampling as claimed in claim 1 robot side spinning door manipulator, it is characterized in that: wherein said charge mechanism offers charging door in a side of the shortwall of connecting gear, on the correspondence position of described charging door, be provided with lading door, charging door adopts the nested gap of two cylinders to install with lading door, the nested cooperation in the position of charging door and lading door is worn the power drive lading door that comes by top rotating mechanism and drive assembly and is realized closure or opening.
3. a kind of intellegent sampling as claimed in claim 1 robot side spinning door manipulator, it is characterized in that: described shedding mechanism is made up of a discharge door and a hinge, and described discharge door is a circular baffle plate of blocking connecting gear bottom scarf; On the top of shedding mechanism, on the position of the relative discharge door of shortwall of connecting gear, be provided with described hinge, hinge is a circular ball.
4. a kind of intellegent sampling as claimed in claim 3 robot side spinning door manipulator, it is characterized in that: the shortwall at described hinge place is provided with a downward groove, simultaneously on discharge door and the contacted position of hinge, also be provided with a downward groove, when discharge door close fashionable, two sides of hinge can be fastened on the inboard, shortwall lower end of the inboard and connecting gear of discharge door, make the tighter of discharge door closure.
5. a kind of intellegent sampling as claimed in claim 3 robot side spinning door manipulator, it is characterized in that: the discharge door inboard of described shedding mechanism bottom has adopted the cylinder slope to push away the compound straight platform design of platform; Described device for discharging bottom discharge outer side of door tip has been adopted curvilinear columns tangent plane design and has been revolved the design of curve vertebra shape, guaranteed to material with type adaptability, again equipment has been carried out effective protection.
6. as claim 1 or 3 described a kind of intellegent sampling robot side spinning door manipulators, it is characterized in that: described elastic force pearl lockable mechanism is mainly by spring, steel ball and back-up ring constitute, the described steel ball of one end of described elastic force pearl lockable mechanism is fastened on the centre of described discharge door and the longwell lower engagement face of connecting gear by the thrust of described spring, the other end of elastic force pearl lockable mechanism by described back-up ring backstop in the longwell bottom of connecting gear, described back-up ring is fixed on the longwell bottom of connecting gear by nut, and connects the pass that a servo-drive system controls discharge door in described elastic force pearl lockable mechanism outside and close.
7. a kind of intellegent sampling as claimed in claim 1 robot side spinning door manipulator, it is characterized in that: described feed bin adopts the design of short column tube, and the diagonally opposing corner length of described lading door is forever less than feed bin inside diameter and height; Described feed bin selects for use stainless steel or other equivalent material to make.
8. as the arbitrary described a kind of intellegent sampling of claim 1 to 3 robot side spinning door manipulator, it is characterized in that: the upper end of described connecting gear is provided with the screwed hole that is connected with drive assembly, described drive assembly outside is provided with outer tube, and connecting gear is fixed by the screwed hole of the outer tube lower end of nut and drive assembly; The rotating mechanism outside is provided with arm, is provided with screwed hole in the arm lower end, the corresponding screwed hole that on the drive assembly outer tube, also is provided with, and rotating mechanism and drive assembly are fixed together by nut; Described couple axle is located at the centre of described rotating mechanism and described drive assembly.
9. a kind of intellegent sampling as claimed in claim 8 robot side spinning door manipulator, it is characterized in that: be provided with the outer connector of positive six shapes in the upper end of arm, outer connector is connected with external component by nut; End on arm top is provided with reducing motor, and reducing motor provides power for whole manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101624957A CN101987450A (en) | 2009-08-06 | 2009-08-06 | Intelligent sampling robot side door swinging manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101624957A CN101987450A (en) | 2009-08-06 | 2009-08-06 | Intelligent sampling robot side door swinging manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN101987450A true CN101987450A (en) | 2011-03-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009101624957A Pending CN101987450A (en) | 2009-08-06 | 2009-08-06 | Intelligent sampling robot side door swinging manipulator |
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| CN (1) | CN101987450A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103344454A (en) * | 2013-07-05 | 2013-10-09 | 张振宇 | Nested cylindrical surface body revolving door manipulator device |
| CN107598899A (en) * | 2017-10-21 | 2018-01-19 | 长沙展朔轩兴信息科技有限公司 | A kind of lateral rotation door manipulator of intelligent sampling robot |
| CN108274470A (en) * | 2018-04-23 | 2018-07-13 | 上海工程技术大学 | A kind of interior scientific investigation robot |
-
2009
- 2009-08-06 CN CN2009101624957A patent/CN101987450A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103344454A (en) * | 2013-07-05 | 2013-10-09 | 张振宇 | Nested cylindrical surface body revolving door manipulator device |
| CN107598899A (en) * | 2017-10-21 | 2018-01-19 | 长沙展朔轩兴信息科技有限公司 | A kind of lateral rotation door manipulator of intelligent sampling robot |
| CN108274470A (en) * | 2018-04-23 | 2018-07-13 | 上海工程技术大学 | A kind of interior scientific investigation robot |
| CN108274470B (en) * | 2018-04-23 | 2021-10-08 | 上海工程技术大学 | Indoor scientific investigation robot |
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Open date: 20110323 |