CN104647339B - Manipulator - Google Patents
Manipulator Download PDFInfo
- Publication number
- CN104647339B CN104647339B CN201510054145.4A CN201510054145A CN104647339B CN 104647339 B CN104647339 B CN 104647339B CN 201510054145 A CN201510054145 A CN 201510054145A CN 104647339 B CN104647339 B CN 104647339B
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- CN
- China
- Prior art keywords
- drive
- cylinder
- crawl
- drive mechanism
- support
- 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.)
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- 230000007246 mechanism Effects 0.000 claims abstract description 202
- 230000008520 organization Effects 0.000 claims abstract description 36
- 230000033001 locomotion Effects 0.000 claims abstract description 10
- 230000033228 biological regulation Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 238000007599 discharging Methods 0.000 claims description 3
- 230000007306 turnover Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 10
- 238000004519 manufacturing process Methods 0.000 description 10
- 229910052710 silicon Inorganic materials 0.000 description 10
- 239000010703 silicon Substances 0.000 description 10
- 229910021420 polycrystalline silicon Inorganic materials 0.000 description 7
- 229920005591 polysilicon Polymers 0.000 description 7
- 238000009434 installation Methods 0.000 description 4
- 235000004443 Ricinus communis Nutrition 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 229910000531 Co alloy Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- JPNWDVUTVSTKMV-UHFFFAOYSA-N cobalt tungsten Chemical compound [Co].[W] JPNWDVUTVSTKMV-UHFFFAOYSA-N 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 239000002210 silicon-based material Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Abstract
Description
Claims (1)
- A kind of 1. manipulator, it is characterised in that including frame, controlling organization, drive mechanism and grasping mechanism, the drive mechanism One end be arranged in the frame, the other end of the drive mechanism extends to the direction away from the frame, the crawl Mechanism is arranged on the elongated end of the drive mechanism, and the grasping mechanism has the structure of crawl and release, the controlling organization The grasping mechanism is positioned and shifted by adjusting the drive mechanism;The frame is the support column being vertically arranged, and the support column includes the first support column and the second support of rotation connection Post, the bottom of the support column are fixedly connected with horizontally disposed support frame, walking mechanism and branch are provided with support frame as described above Support mechanism, wherein:The walking mechanism includes walking wheel, hoofing part mechanism and walking steering mechanism, the control terminal of the hoofing part mechanism It is electrically connected with the controlling organization, it is described to walk to take turns the bottom that terrain clearance is adjustably mounted at the walking mechanism, it is described Hoofing part mechanism is by walking the walking of manipulator described in wheel drive described in driving, by described in walking steering mechanism control The direction of travel of manipulator;The walking mode of the manipulator is divided into manual mode and drive pattern;The supporting mechanism is arranged on the edge of support frame as described above, and the supporting mechanism includes the adjustable support of collapsing length End, the collapsing length by adjusting the support end make the support end prop up ground so as to supporting support frame as described above;The drive mechanism includes drive component, circumferential drive mechanism and radial drive mechanism, the control of the circumferential drive mechanism The control terminal of end processed and the radial drive mechanism is electrically connected with the controlling organization, wherein:The drive component is cantilever beam structure;The drive component is connected by the circumferential drive mechanism with the gantry rotation, and its revolute pair is horizontal plane, The drive component is driven around the gantry rotation by circumferential drive mechanism;The drive component is extended by the radial drive assembly along the direction closer and farther from the frame;The driving machine It is provided with structure and brakes the first circumferential brake apparatus that the circumferential drive mechanism rotates;The second brake apparatus for braking the radial drive mechanism motion is installed in the drive mechanism;The grasping mechanism also includes grabbing assembly switching mechanism, and the braking grabbing assembly is provided with the grasping mechanism and is turned over 3rd brake apparatus of rotation mechanism upset;First brake apparatus includes the described first circumferential brake apparatus, the second circumferential brake apparatus and the 3rd circumferential brake apparatus; The control terminal of the control terminal of first brake apparatus, the control terminal of second brake apparatus and the 3rd brake apparatus is equal It is electrically connected with the controlling organization;The first circumferential brake apparatus is arranged on first support column and second support Between post, to the rotation brake hard to second support column, the first circumferential brake apparatus is joint brake gear; The second circumferential brake apparatus is arranged on the first changeover mechanism, to the circumferential movement fast positioning to secondary cantilever beam;Institute The 3rd circumferential brake apparatus is stated on the second changeover mechanism, to the circumference to grasping mechanism around the elongated end of secondary cantilever beam Move fast positioning;The drive pattern of the circumferential drive mechanism is divided into motor drive pattern and manual drive mode, first changeover mechanism Rotation and second changeover mechanism rotation can rely on motor driving or manual actuation;The grasping mechanism includes crawl drive mechanism and grabbing assembly, the control terminal of the crawl drive mechanism and the control Mechanism is electrically connected with, the crawl drive mechanism drive the grabbing assembly capture/discharge workpiece;The grabbing assembly includes crawl bar, and one end of the crawl bar and the turning end of second changeover mechanism are fixed and connected Connect, the other end of the crawl bar is rotatably connected to crawl support, and crawl cylinder is provided with the crawl support and described is grabbed Component is taken, the control terminal of the crawl cylinder is electrically connected with the controlling organization, and the crawl cylinder described in driving by grabbing Take the closure of component and open so as to capturing and discharging workpiece;The grabbing assembly relative to the position-adjustable for capturing support is arranged on crawl support, and the grabbing assembly is to grab Hand, the manipulator drive the opening and closing of handgrip so as to discharging and gripping workpiece by capturing cylinder;The control terminal of the grabbing assembly switching mechanism is electrically connected with the controlling organization, and the grabbing assembly switching mechanism drives The dynamic grabbing assembly upset, in favor of crawl/release workpiece, the grabbing assembly switching mechanism drives the grabbing assembly to turn over Turn;The gyroscope for monitoring and accurately controlling the flip angle of the crawl support, wherein gyro are installed on the crawl support The signal output part of instrument is electrically connected with controlling organization;First cylinder is installed, the walking mechanism can vertically be slidably mounted on support frame as described above on support frame as described above On, and it slides and driven by first cylinder;The radial drive mechanism includes the second cylinder, and second cylinder is arranged in the frame, second cylinder Output end drives the drive component to be rotated around the top of the frame in perpendicular, is located at the driving machine so as to regulation The radial position of the grasping mechanism of the elongated end of structure;The grabbing assembly switching mechanism is the 3rd cylinder, and the 3rd cylinder is arranged on the grasping mechanism, the described 3rd The output end of cylinder drives the grabbing assembly upset;The frame has a hollow accommodating chamber, and air accumulator, the air inlet of first cylinder, institute are provided with the accommodating chamber The air inlet for stating the second cylinder connects with the air inlet of the 3rd cylinder respectively at the air accumulator;The controlling organization is arranged in the frame, and the manipulator also includes remote control, the remote control and the control Mechanism radio communication connection.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510054145.4A CN104647339B (en) | 2015-02-02 | 2015-02-02 | Manipulator |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510054145.4A CN104647339B (en) | 2015-02-02 | 2015-02-02 | Manipulator |
Publications (2)
Publication Number | Publication Date |
---|---|
CN104647339A CN104647339A (en) | 2015-05-27 |
CN104647339B true CN104647339B (en) | 2017-11-28 |
Family
ID=53239237
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201510054145.4A Active CN104647339B (en) | 2015-02-02 | 2015-02-02 | Manipulator |
Country Status (1)
Country | Link |
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CN (1) | CN104647339B (en) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107555170A (en) * | 2017-09-22 | 2018-01-09 | 苏州昌田机械设备制造有限公司 | A kind of semi-automatic method for carrying of Work transfer apparatus |
CN107555169A (en) * | 2017-09-22 | 2018-01-09 | 苏州昌田机械设备制造有限公司 | A kind of semi-automatic Work transfer apparatus |
CN107572250B (en) * | 2017-09-22 | 2020-09-04 | 苏州昌田机械设备制造有限公司 | Working method of automatic shifting mechanical arm |
CN108436344A (en) * | 2017-12-12 | 2018-08-24 | 安徽维力拓网络科技有限公司 | A kind of automobile chair frame welding manipulator |
CN108817889A (en) * | 2018-06-26 | 2018-11-16 | 芜湖优能自动化设备有限公司 | A kind of machinery valve body assembly line automatic catching robot |
CN110722544B (en) * | 2019-11-13 | 2020-10-30 | 惠安县崇武镇洛妤茶具商行 | Automatic snatch manipulator |
CN113664814B (en) * | 2021-09-23 | 2022-11-25 | 绍兴职业技术学院 | Execution method of robot end effector mechanism assembled with automobile brake chassis |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SU1333567A1 (en) * | 1984-12-28 | 1987-08-30 | Центральное Экспериментальное Конструкторское Бюро Комплексной Механизации И Автоматизации В Строительстве | Manipulator |
SU1546408A1 (en) * | 1987-07-08 | 1990-02-28 | Опытное Производственно-Техническое Объединение Рыбной Промышленности "Техрыбпром" | Balanced manipulator |
CN201711970U (en) * | 2010-05-31 | 2011-01-19 | 盐城市三祥机械设备有限公司 | Pressure control power assisting manipulator |
DE102012003690A1 (en) * | 2012-02-23 | 2013-08-29 | Kuka Roboter Gmbh | Mobile robot |
CN103286769B (en) * | 2013-05-29 | 2015-06-03 | 中国人民解放军96630部队 | High-energy X-ray radiographic film changing robot |
CN103495974A (en) * | 2013-10-08 | 2014-01-08 | 盐城市昱博自动化设备有限公司 | Intelligent 360-degree multi-dimensional mechanical arm of automobile equipment line |
-
2015
- 2015-02-02 CN CN201510054145.4A patent/CN104647339B/en active Active
Also Published As
Publication number | Publication date |
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CN104647339A (en) | 2015-05-27 |
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Legal Events
Date | Code | Title | Description |
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C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C41 | Transfer of patent application or patent right or utility model | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20160616 Address after: 231600 north side of steep road, Feidong Economic Development Zone, Hefei, Anhui Applicant after: HEFEI KIWI HEAVY MACHINERY Co.,Ltd. Address before: 231600 north side of steep road, Feidong Economic Development Zone, Hefei, Anhui Applicant before: Huang Hao |
|
GR01 | Patent grant | ||
GR01 | Patent grant | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Method and manipulator for quickly replacting sprue of tundish for conticaster Effective date of registration: 20190308 Granted publication date: 20171128 Pledgee: Anhui Feidong Rural Commercial Bank Co.,Ltd. Shop Branch Pledgor: HEFEI KIWI HEAVY MACHINERY Co.,Ltd. Registration number: 2019340000132 |
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PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20200617 Granted publication date: 20171128 Pledgee: Anhui Feidong Rural Commercial Bank Co.,Ltd. Shop Branch Pledgor: HEFEI KIWI HEAVY MACHINERY Co.,Ltd. Registration number: 2019340000132 |
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PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: manipulator Effective date of registration: 20201225 Granted publication date: 20171128 Pledgee: China Construction Bank Co.,Ltd. Hefei Chengdong sub branch Pledgor: HEFEI KIWI HEAVY MACHINERY Co.,Ltd. Registration number: Y2020980009965 |
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PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20230131 Granted publication date: 20171128 Pledgee: China Construction Bank Co.,Ltd. Hefei Chengdong sub branch Pledgor: HEFEI KIWI HEAVY MACHINERY Co.,Ltd. Registration number: Y2020980009965 |
|
CP02 | Change in the address of a patent holder | ||
CP02 | Change in the address of a patent holder |
Address after: 230000 meters west of the intersection of Daihe road and Zhenxi Road, Feidong Economic Development Zone, Feidong County, Hefei City, Anhui Province Patentee after: HEFEI KIWI HEAVY MACHINERY Co.,Ltd. Address before: 231600 North of Dougang Road, Feidong Economic Development Zone, Hefei City, Anhui Province Patentee before: HEFEI KIWI HEAVY MACHINERY Co.,Ltd. |