CN103737572B - Vehicular job that requires special skills manipulator - Google Patents
Vehicular job that requires special skills manipulator Download PDFInfo
- Publication number
- CN103737572B CN103737572B CN201310715733.9A CN201310715733A CN103737572B CN 103737572 B CN103737572 B CN 103737572B CN 201310715733 A CN201310715733 A CN 201310715733A CN 103737572 B CN103737572 B CN 103737572B
- Authority
- CN
- China
- Prior art keywords
- execution unit
- arm
- mechanical arm
- fixed
- minor details
- 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.)
- Active
Links
Abstract
The present invention relates to a kind of vehicular job that requires special skills manipulator, with multiple execution unit, several functions can be realized, horizontally rotate and seat is fixed with more piece has hydraulic system to drive the mechanical arm of taking down the exhibits, minor details mechanical arm is fixed with execution unit storage box, drive chain and driving mechanism are installed in storage box, drive chain is connected with multiple execution unit by adjustment seat, minor details mechanical arm end is provided with execution unit holding breach, and is provided with execution unit clamp system on this end.Horizontally rotate seat can horizontally rotate on automobile chassis, rotate with mechanical arm in rotation simultaneously, thus change the position of execution unit; Minor details mechanical arm is fixed execution unit storage box, storage box is provided with multiple execution unit, each execution unit can complete a function, and the execution unit in storage box can be taken turns by drive chain and be turned, thus selects suitable execution unit to complete the function of needs.
Description
Technical field
The present invention relates on a kind of vehicle and fill, especially a kind of have the manipulator of several functions and can realize the automatic vehicular job that requires special skills manipulator changed.
Background technology
Along with the development of urbanization, need increasing job that requires special skills, as city cable cable laying operation, special equipment installation exercise, maintenance, rescue etc., need a kind of special mechanical equipment, assist and carry out transporting, loading and unloading.
Such as: in urban distribution network, 66 kilovolts and above power cable line come into operation on a large scale, cable laying construction operation there is no special plant equipment, find out from existing laying construction operation, existing mode construction operation efficiency is low, and labour intensity is larger.Cable disk loads and unloads, crane is needed to participate in before and after transhipment, crane is particularly used to affect urban transportation at the scene, and each drum needs to use crane 2 times at the scene, move down and bring up to, each crane is marched into the arena to and is left needs more than 20 minute, extreme influence traffic and reduce the social benefit of power engineering and image.
The operations such as special place maintenance of equipment replacing, install as transformer and change, need the equipment such as transport vehicle, autocrane, and scene limits by netting twine on transformer, autocrane can not give full play to performance, and thus efficiency is low, labour intensity is large, security is low.
Also some building site, need main equipment to be unloaded from haulage vehicle or loads onto, general is all come by crane, this just requires to bundle equipment, to facilitate the suspension hook of crane to hang, but this Method compare is consuming time, especially will use cable wire when binding, also cannot the center of gravity of accurate positioning equipment, manual operation is cumbersome.
Also there are some manipulators now, but the executive component of these manipulators only has a kind of structure, each manipulator can only complete a function, if complete multiple combination of actions, need to configure multiple manipulator, and an automobile chassis general all only installation manipulator, this just needs many automobile work compounds.
Summary of the invention
The object of this invention is to provide a kind of vehicular job that requires special skills manipulator, with multiple execution unit, can realize several functions, a car just can complete loading, and realizes multiple combination of actions.
The invention solves existing Large-Scale Equipment to need cable wire and crane to combine just to complete handling, the efficiency of loading and unloading is poor, the defect of labor strength, a kind of vehicular job that requires special skills manipulator is provided, just can complete equipment handling by manipulator, efficiency is high, reduces labor strength.
This invention also solves existing automobile chassis and a kind of manipulator is only installed, a function can only be completed, many automobiles are needed to work in coordination with the defect that could realize combination of actions, a kind of vehicular job that requires special skills manipulator is provided, an automobile chassis installs a manipulator, with convertible multiple execution unit on manipulator, only need change execution unit, just can complete multiple combination of actions.
The technical solution adopted for the present invention to solve the technical problems is: a kind of vehicular job that requires special skills manipulator, be installed on automobile chassis by horizontally rotating seat, horizontally rotate and seat is fixed with more piece has hydraulic system to drive the mechanical arm of taking down the exhibits, minor details mechanical arm is fixed with execution unit storage box, drive chain is installed and for driving the driving mechanism of drive chain movement in storage box, drive chain is connected with multiple execution unit by adjustment seat, minor details mechanical arm end is provided with execution unit holding breach, and execution unit clamp system is provided with on this end, automobile chassis is provided with the controlling organization of hydraulic control system and driving mechanism.Horizontally rotate seat can horizontally rotate on automobile chassis, rotate with mechanical arm in rotation simultaneously, thus change the position of execution unit; Minor details mechanical arm is fixed execution unit storage box, storage box is provided with multiple execution unit, each execution unit can complete a function, and the execution unit in storage box can be taken turns by drive chain and be turned, thus selects suitable execution unit to complete the function of needs; Execution unit relative adjustment seat rotates, and by clamp system is clamped in the holding breach snapping onto on minor details mechanical arm after rotation, as long as to change the action that the angle of mechanical arm and position just can complete needs; Execution unit can be changed as required, reinstalls in adjustment seat after replacing.
As preferably, minor details mechanical arm is fixed with two drives, one of them drive connects stepper motor and forms main driving wheel, and another is that drive chain is connected on drive from drive.Drive matches with drive chain, and main driving wheel is by stepper motor driven rotary, and drive chain drives and rotates from drive.
As preferably, the end of execution unit is fixed with the transverse axis of vertical execution unit axis, and the two ends of transverse axis are hinged in adjustment seat, and adjustment seat is fixed with rotary electric machine, and the output shaft of rotary electric machine is connected with transverse axis for driving execution unit to rotate around adjustment seat.Execution unit and adjustment seat are hinged by transverse axis, and execution unit can rotate around the axis of transverse axis, and therefore the axis of transverse axis parallels with the length direction of minor details mechanical arm, and such execution unit can set aside in holding breach.
As preferably, the actuator that execution unit comprises connecting cylinder section and fixes with the end of connecting cylinder section, actuator is divided into grabber or inserter or absorber.Connecting cylinder section and adjustment seat are hinged and also match with holding breach simultaneously, and the difference in functionality of execution unit is mainly realized by different actuators.
As preferably, a side of the holding breach on minor details mechanical arm is V-shaped, and clamp system comprises clamp arm and driving cylinder, and the end of clamp arm is V-arrangement, two V-arrangements clamping execution units.
As preferably, mechanical arm comprises and the fixed arm, the first segment cursor being hinged on fixed arm end and the minor details mechanical arm be hinged on described in first segment cursor end that horizontally rotate seat and fix, be connected with amplitude oil cylinder between fixed arm and first segment cursor, between first segment cursor and minor details mechanical arm, be connected with amplitude oil cylinder.
As preferably, first segment cursor is stretching structure, and first segment cursor comprises outer arm and inner arm, and inner arm is inserted in outer arm, is connected between inner arm with outer arm by telescoping cylinder, and amplitude oil cylinder is connected on outer arm.
As preferably, the end of first segment cursor is hinged with rolling disc, and rolling disc is divided into mutually nested inner disc and outer disk, is connected with intermeshing driving gear and fixed gear between inner disc and outer disk, driving gear is connected with drive motors, and minor details mechanical arm is fixed on rolling disc.
As preferably, rolling disc is fixed with transverse arm, minor details mechanical arm is L-shaped, and the galianconism of L shape is inserted in transverse arm, is connected with telescoping cylinder between galianconism and transverse arm, storage box be installed to minor details mechanical arm long-armed on.Minor details mechanical arm is two, and the execution unit on two minor details mechanical arms can be operationally paired use, and such as two execution units can grafting mutually, jointly completes function by both cooperatively interacting.
As preferably, mechanical arm is provided with angular transducer and linear transducer, the angle excursion that controller mechanical arm is rotated, hydraulic system is connected with pressure sensor, and the change controlling the power that execution unit can produce is little, and limits the biggest lifting capacity.
The invention has the beneficial effects as follows: horizontally rotate seat and can horizontally rotate on automobile chassis, rotate with mechanical arm in rotation simultaneously, thus change the position of execution unit; Minor details mechanical arm is fixed execution unit storage box, storage box is provided with multiple execution unit, each execution unit can complete a function, and the execution unit in storage box can be taken turns by drive chain and be turned, thus selects suitable execution unit to complete the function of needs.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation of the present invention;
Fig. 2 is schematic diagram in the middle of the present invention's one is launched;
Fig. 3 is the another kind of structural representation of the present invention;
Fig. 4 is the working state schematic representation of structure shown in Fig. 3 of the present invention;
Fig. 5 is the front view of a kind of storage box of the present invention;
Fig. 6 is the side view of storage box shown in Fig. 5 of the present invention;
Fig. 7 is the structural representation of a kind of holding breach of the present invention;
Fig. 8 is the clamping schematic diagram of holding breach shown in Fig. 7 of the present invention;
In figure: 1, automobile chassis, 2, minor details mechanical arm, 3, storage box, 4, execution unit, 5, rolling disc, 6, second amplitude oil cylinder, 7, first amplitude oil cylinder, 8, first segment cursor, 9, fixed arm, 10, horizontally rotate seat, 11, inwall, 12, outer wall, 13, transverse arm, 14, galianconism, 15, supporting leg, 16, promote cylinder, 17, transverse axis, 18, adjustment seat, 19, inserter, 20, connecting cylinder section, 21, absorber, 22, main driving wheel, 23, drive chain, 24, support, 25, from drive, 26, fixed axis, 27, holding breach, 28, side, 29, clamp arm, 30, driving cylinder, 31, tailstock.
Detailed description of the invention
Below by specific embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail.
Embodiment: a kind of vehicular job that requires special skills manipulator (see accompanying drawing 1 accompanying drawing 2), is installed on automobile chassis 1 by horizontally rotating seat 10.Horizontally rotate the fixed arm 9 seat being fixed with inclination, fixed arm end is hinged with first segment cursor 8, and the end of first segment cursor is hinged with minor details mechanical arm 2.First segment cursor is stretching structure, and first segment cursor comprises outer arm 12 and inner arm 11, and inner arm is inserted in outer arm, is connected between inner arm with outer arm by telescoping cylinder.Be connected with the first amplitude oil cylinder 7 between outer arm and fixed arm, between minor details mechanical arm and first segment cursor, be connected with the second amplitude oil cylinder 6.The equal connecting fluid hydraulic circuit of telescoping cylinder, the first amplitude oil cylinder and the second amplitude oil cylinder also forms hydraulic system, hydraulic system connection control mechanism.
Minor details mechanical arm is fixed with execution unit storage box 3(see accompanying drawing 5), storage box comprises box body, and the periphery of box body is provided with a circle fluting.Two drives are provided with in box body, drive is connected on minor details mechanical arm by fixed axis, one of them drive connects stepper motor and forms main driving wheel 22, another is from drive 25, main driving wheel and be connected with drive chain 23 between drive, the position of drive chain is just in time corresponding with fluting.Drive chain is fixed with some adjustment seats 18, each adjustment seat is hinged with execution unit 4.Each execution unit has different functions, the actuator that execution unit comprises connecting cylinder section 20 and fixes with the end of connecting cylinder section, and actuator is divided into grabber or inserter 19 or absorber 21.The end of connecting cylinder section is fixed with the transverse axis 17 of vertical execution unit axis, and the two ends of transverse axis are hinged in adjustment seat, and the axis of transverse axis parallels with the length direction of minor details mechanical arm.Adjustment seat is provided with spring return mechanism.Also be fixed with support 24 in box body, the top of support is fixed with and promotes cylinder 16, and the height promoting cylinder just in time can promote execution unit half-twist (see accompanying drawing 6).The piston rod end promoting cylinder is hinged with pulley, and the periphery of pulley is the concave face matched with connecting cylinder section, and pulley contacts with execution unit.Minor details mechanical arm is provided with execution unit holding breach 27, holding breach has a side 28 of V-arrangement, minor details mechanical arm is provided with clamp system, clamp system comprises clamp arm 29 and driving cylinder 30, the end of clamp arm is V-arrangement, two V-arrangement clamping execution units, the tail end of minor details mechanical arm is fixed with tailstock 31, and driving cylinder is fixed to (see accompanying drawing 7 accompanying drawing 8) on tailstock.
Automobile chassis is provided with supporting leg 15, during operation, supporting leg is strutted.When needs Robot actions, select suitable execution unit, start stepper motor, principal and subordinate wheel drives drive chain to move, and suitable execution unit is moved to the position aiming at holding breach, then cylinder action is promoted by execution unit half-twist, snap onto in the holding breach of minor details mechanical arm, then execution unit is clamped in the side of the V-arrangement of driving cylinder promotion clamp arm and holding breach, then by the first amplitude oil cylinder and the second amplitude oil cylinder adjusting position, horizontally rotate seat and execution unit is turned to correct position, then complete this function by execution unit.
Embodiment 2: a kind of vehicular job that requires special skills manipulator (see accompanying drawing 3 accompanying drawing 4).And the difference between embodiment is: the end of first segment cursor is connected with rolling disc 5, rolling disc is divided into mutually nested inner disc and outer disk, can mutually rotate between inner disc and outer disk, be connected with intermeshing driving gear and fixed gear between inner disc and outer disk, driving gear is connected with drive motors.Drive motors drives driving gear to rotate, and driving gear can rotate around the axis of fixed gear, thus realizes mutually rotating between inner disc and outer disk.Rolling disc is fixed with transverse arm 13, minor details mechanical arm is L-shaped, and the galianconism 14 of L shape is inserted in transverse arm, is connected with telescoping cylinder between galianconism and transverse arm, storage box be installed to minor details mechanical arm long-armed on.The cross section of transverse arm is rectangular, and galianconism is inserted in transverse arm can limit rotation.All the other structures are with reference to embodiment 1.
Above-described embodiment is two kinds of preferred version of the present invention, not does any pro forma restriction to the present invention, also has other variant and remodeling under the prerequisite not exceeding the technical scheme described in claim.
Claims (10)
1. a vehicular job that requires special skills manipulator, be installed on automobile chassis by horizontally rotating seat, it is characterized in that horizontally rotating and seat is fixed with more piece is driven the mechanical arm of taking down the exhibits by hydraulic system, minor details mechanical arm is fixed with execution unit storage box, drive chain is installed and for driving the driving mechanism of drive chain movement in storage box, drive chain is connected with multiple execution unit by adjustment seat, minor details mechanical arm end is provided with execution unit holding breach, and execution unit clamp system is provided with on this end, automobile chassis is provided with the controlling organization of hydraulic control system and driving mechanism.
2. vehicular job that requires special skills manipulator according to claim 1, is characterized in that minor details mechanical arm being fixed with two drives, and one of them drive connects stepper motor and forms main driving wheel, and another is that drive chain is connected on drive from drive.
3. vehicular job that requires special skills manipulator according to claim 1, it is characterized in that the end of execution unit is fixed with the transverse axis of vertical execution unit axis, the two ends of transverse axis are hinged in adjustment seat, minor details mechanical arm is fixed with promotion cylinder, promote cylinder promotion execution unit rotate around adjustment seat and snap onto in the holding breach on minor details mechanical arm, adjustment seat is provided with execution unit resetting-mechanism.
4. the vehicular job that requires special skills manipulator according to claim 1 or 2 or 3, is characterized in that the actuator that execution unit comprises connecting cylinder section and fixes with the end of connecting cylinder section, actuator are divided into grabber or inserter or absorber.
5. the vehicular job that requires special skills manipulator according to claim 1 or 2 or 3, it is characterized in that a side of the holding breach on minor details mechanical arm is V-shaped, clamp system comprises clamp arm and driving cylinder, and the end of clamp arm is V-arrangement, two V-arrangement clamping execution units.
6. the vehicular job that requires special skills manipulator according to claim 1 or 2 or 3, it is characterized in that mechanical arm comprises and the fixed arm, the first segment cursor being hinged on fixed arm end and the minor details mechanical arm be hinged on described in first segment cursor end that horizontally rotate seat and fix, be connected with the first amplitude oil cylinder between fixed arm and first segment cursor, between first segment cursor and minor details mechanical arm, be connected with the second amplitude oil cylinder.
7. vehicular job that requires special skills manipulator according to claim 6, it is characterized in that first segment cursor is stretching structure, first segment cursor comprises outer arm and inner arm, and inner arm is inserted in outer arm, be connected by telescoping cylinder between inner arm with outer arm, the first amplitude oil cylinder is connected on outer arm.
8. vehicular job that requires special skills manipulator according to claim 6, it is characterized in that the end of first segment cursor is hinged with rolling disc, rolling disc is divided into mutually nested inner disc and outer disk, intermeshing driving gear and fixed gear is connected with between inner disc and outer disk, driving gear is connected with drive motors, and minor details mechanical arm is fixed on rolling disc.
9. vehicular job that requires special skills manipulator according to claim 8, it is characterized in that rolling disc is fixed with transverse arm, minor details mechanical arm is L-shaped, and the galianconism of L shape is inserted in transverse arm, be connected with telescoping cylinder between galianconism and transverse arm, storage box be installed to minor details mechanical arm long-armed on.
10. the vehicular job that requires special skills manipulator according to claim 1 or 2 or 3, it is characterized in that mechanical arm being provided with angular transducer and linear transducer, the angle excursion that controller mechanical arm is rotated, hydraulic system is connected with pressure sensor, the change controlling the power that execution unit can produce is little, and limits the biggest lifting capacity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310715733.9A CN103737572B (en) | 2013-12-23 | 2013-12-23 | Vehicular job that requires special skills manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310715733.9A CN103737572B (en) | 2013-12-23 | 2013-12-23 | Vehicular job that requires special skills manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103737572A CN103737572A (en) | 2014-04-23 |
| CN103737572B true CN103737572B (en) | 2015-10-28 |
Family
ID=50494674
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310715733.9A Active CN103737572B (en) | 2013-12-23 | 2013-12-23 | Vehicular job that requires special skills manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103737572B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104354159B (en) * | 2014-10-17 | 2016-04-20 | 中国人民解放军军事医学科学院卫生装备研究所 | Complex environment rescuing robot system |
| CN104528478B (en) * | 2014-11-21 | 2016-08-31 | 天津智联恒信电力设备股份有限公司 | A kind of electric power cable automatic deploying and retracting line equipment |
| CN108839005A (en) * | 2018-09-10 | 2018-11-20 | 苏州小工匠机器人有限公司 | Manipulator with gas storage space |
| CN109229282A (en) * | 2018-09-18 | 2019-01-18 | 蚌埠市神舟机械有限公司 | A kind of automated handling devices used on ship |
| CN109571407B (en) * | 2018-12-26 | 2022-04-26 | 湖北三江航天红阳机电有限公司 | Tunnel operation car and snatch manipulator thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4636135A (en) * | 1983-03-11 | 1987-01-13 | Societe Syspro | Tool-holder for industrial robot |
| CN201720723U (en) * | 2010-06-08 | 2011-01-26 | 孙颖 | Chain type tool magazine tool guiding mechanism |
| CN202292752U (en) * | 2011-07-13 | 2012-07-04 | 徐州海伦哲专用车辆股份有限公司 | Multifunctional high-lift operation mechanical arm |
| CN102755705A (en) * | 2012-07-16 | 2012-10-31 | 苏州海伦哲专用车辆有限公司 | Smoke exhaust, fire extinguishment and dismantling robot |
| CN102844641A (en) * | 2010-04-13 | 2012-12-26 | 阿格里泰克尼克工程有限公司 | An operation platform |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6176250A (en) * | 1984-09-24 | 1986-04-18 | Toyoda Mach Works Ltd | Tool changing system by robot |
| DE10115467A1 (en) * | 2001-03-29 | 2002-10-02 | Duerr Systems Gmbh | Tool changing system for one machine |
| JP2008207294A (en) * | 2007-02-27 | 2008-09-11 | Kondo Seisakusho:Kk | Automatic tool changer |
-
2013
- 2013-12-23 CN CN201310715733.9A patent/CN103737572B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4636135A (en) * | 1983-03-11 | 1987-01-13 | Societe Syspro | Tool-holder for industrial robot |
| CN102844641A (en) * | 2010-04-13 | 2012-12-26 | 阿格里泰克尼克工程有限公司 | An operation platform |
| CN201720723U (en) * | 2010-06-08 | 2011-01-26 | 孙颖 | Chain type tool magazine tool guiding mechanism |
| CN202292752U (en) * | 2011-07-13 | 2012-07-04 | 徐州海伦哲专用车辆股份有限公司 | Multifunctional high-lift operation mechanical arm |
| CN102755705A (en) * | 2012-07-16 | 2012-10-31 | 苏州海伦哲专用车辆有限公司 | Smoke exhaust, fire extinguishment and dismantling robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103737572A (en) | 2014-04-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103737572B (en) | Vehicular job that requires special skills manipulator | |
| JP2021535869A (en) | Intelligent parking lot and its work-intensive transfer robot | |
| CN201593325U (en) | Omnidirectional automobile transportation tool | |
| CN106393041B (en) | One kind is welded robot handgrip storing unit | |
| CN101722417B (en) | Bolt screwing machine | |
| CN105937326A (en) | Clamping type vehicle carrying robot capable of being used for stereo garage | |
| CN110877225A (en) | Turnover device for automobile part machining | |
| CN105539491A (en) | Decoupling device used for car couplers | |
| CN205220691U (en) | A decoupling device device for coupling | |
| CN105172472A (en) | Disassembly and assembly trolley for automobile tire | |
| CN209479317U (en) | A kind of wheel disassembly robot | |
| CN106869826A (en) | A kind of new petroleum drill machine dynamic catwalk and its drilling tool stowage | |
| CN105667635B (en) | It is a kind of for assembling the line production system of bodywork assembly | |
| CN208791104U (en) | Aerated blocks handling machinery | |
| CN201308922Y (en) | Sliding hoisting device of spool of admission machine and paying out machine | |
| CN206286305U (en) | A kind of haulage equipment and the cleaning device with the haulage equipment | |
| CN204894976U (en) | Automobile tire dismouting platform truck | |
| CN203996008U (en) | A kind of have a video acquisition device breakdown van | |
| CN203048066U (en) | Hydraulic fully-automatic ferry push car | |
| CN102145325B (en) | For applying the system of coating to hollow body | |
| CN207223417U (en) | A kind of fixture for automobile component processing | |
| CN102189545A (en) | Automatic brick-unloading and loading device special for robot | |
| CN106544963B (en) | Exchanging bridge device and its construction method | |
| CN202377824U (en) | Pneumatic and hydraulic automatic centering clamp | |
| CN105174093A (en) | Crane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |