CN104858886A - Four-degree-of-freedom self-stabilized box grab bucket based on parallel mechanism - Google Patents
Four-degree-of-freedom self-stabilized box grab bucket based on parallel mechanism Download PDFInfo
- Publication number
- CN104858886A CN104858886A CN201510324889.3A CN201510324889A CN104858886A CN 104858886 A CN104858886 A CN 104858886A CN 201510324889 A CN201510324889 A CN 201510324889A CN 104858886 A CN104858886 A CN 104858886A
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- fixed
- parallel mechanism
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- 230000007246 mechanism Effects 0.000 title claims abstract description 24
- 238000010276 construction Methods 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 6
- 229910001220 stainless steel Inorganic materials 0.000 claims description 5
- 239000010935 stainless steel Substances 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 5
- 230000006872 improvement Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 241000675108 Citrus tangerina Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000013590 bulk material Substances 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 239000012089 stop solution Substances 0.000 description 1
- 238000007514 turning Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
- B66C3/04—Tine grabs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
- B25J9/0042—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-universal-universal
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
Abstract
The invention relates to a four-degree-of-freedom self-stabilized box grab bucket based on a parallel mechanism. The four-degree-of-freedom self-stabilized box grab bucket comprises a four-degree-of-freedom parallel mechanism, a fixed plate, four electric sliding rails and four grippers; the four-degree-of-freedom parallel mechanism is located directly above the fixed plate and connected with the fixed plate by use of a bolt; the fixed plate is of a square structure; the four electric sliding rails are located in the bisectors of the four vertex angles of the fixed plate, respectively, and the electric sliding rails are fixedly connected with the fixed plate; the four grippers are mounted directly under the four electric sliding rails, respectively. The spatial motion status of the four-degree-of-freedom self-stabilized box grab bucket based on the parallel mechanism is realized by virtue of back-and-forth reciprocating motion of movable sliders on the guiding sliding rails; the four-degree-of-freedom parallel mechanism of a 4-CRC mode is adopted to realize the motion of four degrees of freedom of one translation and tripe rotation in the space; as a result, the stability of the grabbing box of the grab bucket can be improved and the jittering problem of the box in the carrying lifting process can be prevented.
Description
Technical field
The present invention relates to capture apparatus field, particularly a kind of four-degree-of-freedom based on parallel institution is grabbed bucket from steady casing.
Background technology
Grab bucket captures the bucket that silt stone and various bulk goods can open and close, namely be that a kind of folding mainly keeping left right two combination buckets or multiple jaw captures and draws off the suspender of bulk material, grab bucket can be divided into mytiliform to grab bucket and the grab bucket of tangerine lobe according to Shape Classification, the former is made up of two complete scraper bowls, and the latter is made up of the jaw of more than three or three; Fluid pressure type can be divided into grab bucket according to type of drive and mechanical type grab bucket two large classes.
Along with the development of modern logistics, the transport of goods is more and more flourishing, present goods many employings casing loads, then container loading is adopted for large cargo equipment, therefore, at port and pier, transport vehicle station and some from trade district and other places, casing carrying is all not within minority for every day, what then adopt small box carrying at present is a dead lift, large casing carrying adopts fork truck more, what transporting container adopted is grab bucket and crane, existing casing carrying lifting there is no specialty grab bucket, what generally adopt is jaw grab, this kind of grab bucket is very large to damaging outside casing, sometimes even box house article are destroyed, grab bucket simultaneously carries out casing carrying under lifting machine coordinates, therefore, very easily produce shake when grab bucket carrying casing and jolt, easily damage is caused to the article in casing.Given this, the invention provides a kind of can the casing Special grabbing taking equipment of damping, namely a kind of four-degree-of-freedom based on parallel institution is grabbed bucket from steady casing.
Summary of the invention
In order to solve the problem, the invention provides a kind of four-degree-of-freedom based on parallel institution to grab bucket from steady casing, it realizes spatial movement state of the present invention by controlling moving slider moving back and forth on directive slide track, adopt the four-freedom parallel mechanism of 4-CRC pattern can realize a translation three in space and rotate four-degree-of-freedom motion altogether, add the stability that the present invention captures casing, prevent the jitter problem of casing in carrying lifting process.
To achieve these goals, the present invention realizes by the following technical solutions: a kind of four-degree-of-freedom based on parallel institution is grabbed bucket from steady casing, comprise four-freedom parallel mechanism, fixed head, four electric sliding rails and four grippers, described four-freedom parallel mechanism is positioned at directly over fixed head, and adopts bolt to be connected between four-freedom parallel mechanism with fixed head; Described fixed head is square structure, and four electric sliding rails lay respectively on four drift angle bisectors of fixed head, and electric sliding rail and fixed head are connected; Four described grippers are arranged on immediately below four electric sliding rails respectively.
As a further improvement on the present invention, described four-freedom parallel mechanism comprises moving platform, fixed platform, support bar, universal joint, moving slider and directive slide track; The rounded structure of described moving platform, the rectangular structure of fixed platform, the quantity of support bar, moving slider and directive slide track is four, and the quantity of universal joint is eight; Four described support bars are between moving platform and fixed platform, and four support bars arrange moving platform four side respectively, and support bar one end is connected with moving platform bottom face by universal joint, and the support bar other end is connected with moving slider by universal joint; Four described directive slide tracks are fixed on the both sides, front and back of fixed platform respectively along the central axis of fixed platform, moving slider is arranged on directive slide track, realizing spatial movement state of the present invention by controlling moving slider moving back and forth on directive slide track, adopting the four-freedom parallel mechanism of 4-CRC pattern can realize a translation three in space and rotating four-degree-of-freedom motion altogether.
As a further improvement on the present invention, described gripper comprises moving slider, upper chuck, lower chuck, expansion link, upper ear seat, lower ear base and hydraulic cylinder; Described moving slider is fixed on chuck top end, moving slider offers installation earhole; Described upper chuck bottom is connected by expansion link with between lower chuck top; Described upper chuck is triangular shape pillar construction, and upper chuck two side evenly offers manhole, and drift angle place, upper chuck bottom is provided with upper bush, and upper bush internal diameter is slightly larger than expansion link external diameter; Described lower chuck is also in triangular shape pillar construction, lower chuck two side evenly offers lower manhole, drift angle place, lower chuck top is provided with lower sleeve, and lower sleeve internal diameter is slightly larger than expansion link external diameter, lower chuck bottom is provided with shovel ear, shovel ear is sector structure, and shovel ear front port place is provided with gradient; Described upper ear seat is fixed on the lateral wall of chuck bottom, lower ear base is fixed on the lateral wall on lower chuck top, upper ear seat and lower ear base are Ω type structure, hydraulic cylinder is between upper ear seat and lower ear base, and hydraulic cylinder bottom and upper ear seat fix, hydraulic cylinder top is connected with lower ear base.
As a further improvement on the present invention, described support bar material is stainless steel material, adopts the support bar of stainless steel to avoid problem of rustiness.
As a further improvement on the present invention, described directive slide track two ends are respectively arranged with postive stop baffle, occur departing from the phenomenon of directive slide track by arranging at directive slide track two ends when postive stop baffle prevents moving slider to move back and forth back and forth on directive slide track.
Beneficial effect of the present invention: a kind of four-degree-of-freedom based on parallel institution has the features such as compact conformation, simple operation and cost of manufacture are low from steady casing grab bucket, compared with prior art, it realizes spatial movement state of the present invention by controlling moving slider moving back and forth on directive slide track, adopt the four-freedom parallel mechanism of 4-CRC pattern can realize a translation three in space and rotate four-degree-of-freedom motion altogether, add the stability that the present invention captures casing, prevent the jitter problem of casing in carrying lifting process.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is perspective view of the present invention;
Fig. 2 is the cooperation schematic diagram of fixed head of the present invention, four electric sliding rails and four grippers;
Fig. 3 is the perspective view of gripper of the present invention;
Fig. 4 is the perspective view of four-freedom parallel mechanism of the present invention.
Specific embodiment
The technological means realized to make the present invention, creation characteristic, reaching object and effect is easy to understand, below in conjunction with concrete diagram, setting forth the present invention further.It should be noted that, when not conflicting, the embodiment in the application and the feature in embodiment can be combined with each other.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, a kind of four-degree-of-freedom based on parallel institution is grabbed bucket from steady casing, comprise four-freedom parallel mechanism 1, fixed head 2, four electric sliding rails 3 and four grippers 4, described four-freedom parallel mechanism 1 is positioned at directly over fixed head 2, and adopts bolt to be connected between four-freedom parallel mechanism 1 with fixed head 2; Described fixed head 2 is square structure, and four electric sliding rails 3 lay respectively on four drift angle bisectors of fixed head 2, and electric sliding rail 3 and fixed head 2 are connected; Four described grippers 4 are arranged on immediately below four electric sliding rails 3 respectively.
As shown in Figure 4, described four-freedom parallel mechanism 1 comprises moving platform 11, fixed platform 12, support bar 13, universal joint 14, moving slider 15 and directive slide track 16; The described rounded structure of moving platform 11, the rectangular structure of fixed platform 12, the quantity of support bar 13, moving slider 15 and directive slide track 16 is four, and the quantity of universal joint 14 is eight; Four described support bars 13 are between moving platform 11 and fixed platform 12, and four support bars 13 arrange moving platform 11 4 side respectively, support bar 13 one end is connected with moving platform 11 bottom face by universal joint 14, and support bar 13 other end is connected with moving slider 15 by universal joint 14; Four described directive slide tracks 16 are fixed on the both sides, front and back of fixed platform 12 respectively along the central axis of fixed platform 12, moving slider 15 is arranged on directive slide track 16, realizing spatial movement state of the present invention by controlling moving slider 15 moving back and forth on directive slide track 16, adopting the four-freedom parallel mechanism 1 of 4-CRC pattern can realize a translation three in space and rotating four-degree-of-freedom motion altogether.
As shown in Figures 2 and 3, described gripper 4 comprises moving slider 41, upper chuck 42, lower chuck 43, expansion link 44, upper ear seat 45, lower ear base 46 and hydraulic cylinder 47; Described moving slider 41 is fixed on chuck 42 top end, moving slider 41 offers installation earhole; Be connected by expansion link 44 between described upper chuck 42 bottom with lower chuck 43 top; Described upper chuck 42 is in triangular shape pillar construction, and upper chuck 42 two side evenly offers manhole, and drift angle place, upper chuck 42 bottom is provided with upper bush, and upper bush internal diameter is slightly larger than expansion link 44 external diameter; Described lower chuck 43 is also in triangular shape pillar construction, lower chuck 43 two side evenly offers lower manhole, drift angle place, lower chuck 43 top is provided with lower sleeve, and lower sleeve internal diameter is slightly larger than expansion link 44 external diameter, lower chuck 43 bottom is provided with shovel ear, shovel ear is sector structure, and shovel ear front port place is provided with gradient; Described upper ear seat 45 is fixed on the lateral wall of chuck 42 bottom, lower ear base 46 is fixed on the lateral wall on lower chuck 43 top, upper ear seat 45 and lower ear base 46 are Ω type structure, hydraulic cylinder 47 is between upper ear seat 45 and lower ear base 46, and hydraulic cylinder 47 bottom and upper ear seat 45 fix, hydraulic cylinder 47 top is connected with lower ear base 46.
As shown in Figure 4, described support bar 13 material is stainless steel material, adopts the support bar 13 of stainless steel to avoid problem of rustiness.
As shown in Figure 4, described directive slide track 16 two ends are respectively arranged with postive stop baffle, occur departing from the phenomenon of directive slide track 16 by arranging at directive slide track 16 two ends when postive stop baffle prevents moving slider 15 to move back and forth back and forth on directive slide track 6.
During use, first forward starts electric sliding rail 3, drives four grippers 4 outwards to stretch by electric sliding rail 3 simultaneously, then forward primer fluid cylinder pressure 47, the vertical downward movement of lower chuck 43 is driven by the stretching, extension of hydraulic cylinder 47, and realize the rotation break-in campaign of whole gripper 4 simultaneously, four grippers 4 are just in time reclined four turnings of casing, instantly time the shovel ear of chuck 43 bottom arrives bottom half, reverse starting electric sliding rail 3 again, drive four grippers 4 inwardly to shrink by electric sliding rail 3 simultaneously, electric sliding rail 3 is stopped when upper chuck 42 madial wall contacts with two lateral walls at box section corner place with lower chuck 43 madial wall, realize fixing casing four side, reverse starting hydraulic cylinder 47 again, the upward vertical movement of lower chuck is driven by the contraction of hydraulic cylinder 47, the stop solution cylinder pressure 47 when upper chuck 42 top inner side face contacts with the top and bottom of casing respectively with lower chuck 43 bottom medial surface, thus realization fixing the upper and lower side of casing, just can realize the lifting of casing by crane lifting fixed head 2 and carry, in lifting handling process, it realizes spatial movement state of the present invention by controlling moving slider 15 moving back and forth on directive slide track 16, adopt the four-freedom parallel mechanism 1 of 4-CRC pattern can realize a translation three in space and rotate four-degree-of-freedom motion altogether, add the stability that the present invention captures casing, prevent the jitter problem of casing in carrying lifting process.
More than show and describe general principle of the present invention, principal character and advantage.The technical staff of the industry should understand; the present invention is not restricted to the described embodiments; description in above-described embodiment and description principle of the present invention is just described; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.Application claims protection domain is defined by appending claims and equivalent thereof.
Claims (3)
1. grab bucket from steady casing based on the four-degree-of-freedom of parallel institution for one kind, comprise four-freedom parallel mechanism, fixed head, four electric sliding rails and four grippers, it is characterized in that: described four-freedom parallel mechanism is positioned at directly over fixed head, and between four-freedom parallel mechanism with fixed head, adopt bolt to be connected; Described fixed head is square structure, and four electric sliding rails lay respectively on four drift angle bisectors of fixed head, and electric sliding rail and fixed head are connected; Four described grippers are arranged on immediately below four electric sliding rails respectively; Wherein:
Described four-freedom parallel mechanism comprises moving platform, fixed platform, support bar, universal joint, moving slider and directive slide track; The rounded structure of described moving platform, the rectangular structure of fixed platform, the quantity of support bar, moving slider and directive slide track is four, and the quantity of universal joint is eight; Four described support bars are between moving platform and fixed platform, and four support bars arrange moving platform four side respectively, and support bar one end is connected with moving platform bottom face by universal joint, and the support bar other end is connected with moving slider by universal joint; Four described directive slide tracks are fixed on the both sides, front and back of fixed platform respectively along the central axis of fixed platform, moving slider is arranged on directive slide track;
Described gripper comprises moving slider, upper chuck, lower chuck, expansion link, upper ear seat, lower ear base and hydraulic cylinder; Described moving slider is fixed on chuck top end, moving slider offers installation earhole; Described upper chuck bottom is connected by expansion link with between lower chuck top; Described upper chuck is triangular shape pillar construction, and upper chuck two side evenly offers manhole, and drift angle place, upper chuck bottom is provided with upper bush, and upper bush internal diameter is slightly larger than expansion link external diameter; Described lower chuck is also in triangular shape pillar construction, lower chuck two side evenly offers lower manhole, drift angle place, lower chuck top is provided with lower sleeve, and lower sleeve internal diameter is slightly larger than expansion link external diameter, lower chuck bottom is provided with shovel ear, shovel ear is sector structure, and shovel ear front port place is provided with gradient; Described upper ear seat is fixed on the lateral wall of chuck bottom, lower ear base is fixed on the lateral wall on lower chuck top, upper ear seat and lower ear base are Ω type structure, hydraulic cylinder is between upper ear seat and lower ear base, and hydraulic cylinder bottom and upper ear seat fix, hydraulic cylinder top is connected with lower ear base.
2. a kind of Three Degree Of Freedom based on parallel institution according to claim 1 is grabbed bucket from steady casing, it is characterized in that: described support bar material is stainless steel material.
3. a kind of Three Degree Of Freedom based on parallel institution according to claim 1 is grabbed bucket from steady casing, it is characterized in that: described directive slide track two ends are respectively arranged with postive stop baffle.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611115287.8A CN106514622B (en) | 2015-06-11 | 2015-06-11 | A kind of working method grabbed bucket based on the four-degree-of-freedom of parallel institution from steady cabinet |
| CN201611116424.XA CN106586826B8 (en) | 2015-06-11 | 2015-06-11 | It is a kind of to be grabbed bucket based on the four-degree-of-freedom of parallel institution from steady casing |
| CN201510324889.3A CN104858886B (en) | 2015-06-11 | 2015-06-11 | A kind of four-degree-of-freedom based on parallel institution is grabbed bucket from steady casing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510324889.3A CN104858886B (en) | 2015-06-11 | 2015-06-11 | A kind of four-degree-of-freedom based on parallel institution is grabbed bucket from steady casing |
Related Child Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611116424.XA Division CN106586826B8 (en) | 2015-06-11 | 2015-06-11 | It is a kind of to be grabbed bucket based on the four-degree-of-freedom of parallel institution from steady casing |
| CN201611115287.8A Division CN106514622B (en) | 2015-06-11 | 2015-06-11 | A kind of working method grabbed bucket based on the four-degree-of-freedom of parallel institution from steady cabinet |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104858886A true CN104858886A (en) | 2015-08-26 |
| CN104858886B CN104858886B (en) | 2016-12-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611115287.8A Active CN106514622B (en) | 2015-06-11 | 2015-06-11 | A kind of working method grabbed bucket based on the four-degree-of-freedom of parallel institution from steady cabinet |
| CN201510324889.3A Active CN104858886B (en) | 2015-06-11 | 2015-06-11 | A kind of four-degree-of-freedom based on parallel institution is grabbed bucket from steady casing |
| CN201611116424.XA Active CN106586826B8 (en) | 2015-06-11 | 2015-06-11 | It is a kind of to be grabbed bucket based on the four-degree-of-freedom of parallel institution from steady casing |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611115287.8A Active CN106514622B (en) | 2015-06-11 | 2015-06-11 | A kind of working method grabbed bucket based on the four-degree-of-freedom of parallel institution from steady cabinet |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611116424.XA Active CN106586826B8 (en) | 2015-06-11 | 2015-06-11 | It is a kind of to be grabbed bucket based on the four-degree-of-freedom of parallel institution from steady casing |
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| CN (3) | CN106514622B (en) |
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| CN105798890A (en) * | 2016-05-25 | 2016-07-27 | 刘明月 | Intelligent manipulator for warehouse operation of new energy automobile parts |
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| CN105947651A (en) * | 2016-05-25 | 2016-09-21 | 刘明月 | Intelligent carrying mechanical jaw for electric vehicle parts |
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| CN106002546A (en) * | 2016-06-28 | 2016-10-12 | 徐香庭 | Intelligent grinding apparatus for high-speed rail |
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| CN106514622B (en) * | 2015-06-11 | 2018-12-25 | 黄朝阳 | A kind of working method grabbed bucket based on the four-degree-of-freedom of parallel institution from steady cabinet |
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| CN111515985A (en) * | 2020-04-28 | 2020-08-11 | 张立东 | Grabbing claw prepared from polypropylene plastic |
| CN111515985B (en) * | 2020-04-28 | 2022-12-30 | 深圳市兴达源吸塑制品有限公司 | Grabbing claw prepared from polypropylene plastic |
| CN113864578A (en) * | 2021-08-24 | 2021-12-31 | 华人运通(江苏)技术有限公司 | Screen adjusting device, display device and vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106586826B (en) | 2017-12-22 |
| CN106586826A (en) | 2017-04-26 |
| CN106514622A (en) | 2017-03-22 |
| CN106586826B8 (en) | 2018-01-19 |
| CN104858886B (en) | 2016-12-07 |
| CN106514622B (en) | 2018-12-25 |
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