CN105500339B - A kind of reparing device for vehicle with controllable mechanical arm - Google Patents

A kind of reparing device for vehicle with controllable mechanical arm Download PDF

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Publication number
CN105500339B
CN105500339B CN201610005092.1A CN201610005092A CN105500339B CN 105500339 B CN105500339 B CN 105500339B CN 201610005092 A CN201610005092 A CN 201610005092A CN 105500339 B CN105500339 B CN 105500339B
Authority
CN
China
Prior art keywords
base
mechanical arm
arm
underarm
vehicle
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.)
Expired - Fee Related
Application number
CN201610005092.1A
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Chinese (zh)
Other versions
CN105500339A (en
Inventor
魏丹
傅明明
曹景盛
王野
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Liaoning University of Technology
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Liaoning University of Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Liaoning University of Technology filed Critical Liaoning University of Technology
Priority to CN201610005092.1A priority Critical patent/CN105500339B/en
Publication of CN105500339A publication Critical patent/CN105500339A/en
Application granted granted Critical
Publication of CN105500339B publication Critical patent/CN105500339B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0021—All motors in base
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Chairs For Special Purposes, Such As Reclining Chairs (AREA)

Abstract

The invention discloses a kind of reparing device for vehicle with controllable mechanical arm, including backrest and base, for supporting human body；Transmission device, for adjusting the angle between backrest and base, its connect base；Mechanical arm, including support base, rotating disk, underarm, upper arm and connection wrist；Motor and decelerator can drive rotating disk to rotate in support base, and support base is fixed on base；Rotating disk, can drive underarm to carry out Plane Rotation, rotating disk one end connecting support seat, other end connection underarm；Underarm and upper arm, realize that mechanical arm is moved in the height direction, and underarm bottom is hinged with rotating disk, and the other end is hinged with upper arm bottom；Connection wrist, it is used to be fixedly connected manipulator, and connection wrist lower end is hinged with top arm's tip, other end connection manipulator；Manipulator, thereon palm and finger cooperation can be dismantled or install part, and the manipulator is fixedly connected with wrist is connected.The present invention accurately control machinery arm can be operated on the basis of manpower is saved, and improve performance accuracy.

Description

A kind of reparing device for vehicle with controllable mechanical arm
Technical field
The present invention relates to Deck ckair for automobile repairing.It is more particularly related to a kind of dress that repairs with controllable mechanical arm Put.
Background technology
Creeper unitary function on the market and in being currently in use at present.One piece of simply single plank adds everything Wheel.Although can complete to carry out the operation function that repairs of bottom of car, its function is only for repairman provides one The platform on slidable isolation ground, required function during repairing can not be fully achieved.May be met when such as we repair To the automobile of chassis different height, or run into eligible for repair position angle non-parallel to ground, or automobile some portions Part manpower is difficult to move and repairs, and now traditional creeper cannot play a part of it.Repairman also needs simultaneously Oneself different operating mode of narrow spatial adaptation under car is wanted, so as to cause unnecessary fatigue.Therefore need it is a can be big Amplitude alleviates the functional form Deck ckair for automobile repairing of the personnel's fatigue that repairs.
The application is directed to defect of the prior art, there is provided a kind of Deck ckair for automobile repairing with manipulator, can be aided in Repairman, manipulator can jointly complete the task of repairing independently or with repairman.
The content of the invention
It is an object of the present invention to provide a kind of reparing device for vehicle with controllable mechanical arm, repairman is according to sensing The image information trouble hunt ing situation that device is passed back, control machinery hand is operated, and prevents maintainer injured and reduce personnel to grasp The difficulty of work.
In order to realize these purposes of the invention and further advantage, there is provided a kind of repairing with controllable mechanical arm Car device, including：Backrest and base, for supporting human body；
Transmission device, it is used to adjust the angle between backrest and base, the transmission device connect base；And
Mechanical arm, it includes support base, rotating disk, underarm, upper arm, connection wrist and manipulator,
Support base, its one end is fixedly supported on the base, and the support base includes the first motor；
Rotating disk, it is rotatably arranged on the other end of the support base, first motor can drive rotating disk around The vertical axis rotation of the support base；
Underarm, its one end is hinged the rotating disk, and one end of the underarm also includes the second motor, its drive described underarm around The turntable rotation；
Upper arm, its one end is hinged the other end of the underarm, and the other end of the underarm also includes the 3rd motor, its driving The upper arm rotation；
Connection wrist, its other end for being hinged the upper arm, the upper arm includes the 4th motor, the rotation of its drive connection wrist Turn；
Manipulator, it includes palm and finger, can dismantle or install part, the manipulator be connected the rotatable company of wrist Connect, the connection wrist includes the 5th motor, it drives the manipulator around the axis rotation of connection wrist.
Preferably, also include：
The mechanical arm has folding position, and when in off working state, the manipulator firmly grasps the another of the base Side, in folding position.
Preferably, also include：
Sensor, its image for shooting working region and by image transmitting display unit, the sensor is arranged on base On mechanical arm；
Display unit, image storage and will show；
Single-chip Controlling and communication system, its can control machinery arm and transmission mechanism carry out corresponding actions, the list Piece machine is controlled and communication system linking parsing and display unit, feedback unit and mechanical arm；
Wherein, display unit also includes ultramagnifier, and it can compare mechanical arm real time kinematics coordinate with purpose coordinate Error is simultaneously transferred to single-chip microcomputer.
Preferably, the transmission device includes：
Gear train, be driven backrest rotatory force to mobile leg by it, and the gear train connects backrest and base by axle；
Mobile leg, it moves left and right moving towards for leg can drive base to be raised and lowered, the mobile leg tooth connection Train and base.
Preferably, the sensor is matrix CCD.
Preferably, also include：
Reclining apparatus, its built-in Serve Motor Control backrest rotation, and locked with wind spring and position the position of backrest, it is described Reclining apparatus are symmetrically mounted on the junction of backrest and base.
Preferably, also include：
Universal wheel, it drives mobile leg movement, and the universal wheel is fixed on mobile leg bottom.
Preferably, the finger includes：
First knuckle, its one end is hinged palm, and the other end is described by the first rotary shaft rotatable connection second knuckle one end First rotary shaft connects small-sized motor；
Second knuckle, its other end is by the second rotary shaft rotary link third knuckle, and the second rotary shaft connection is small Type motor；
Third knuckle, its end can capture object for ramp structure, and the third knuckle is arranged on finger foremost.
Preferably, the mechanical arm is multiple, is staggered on the base.
Preferably, the slideway has multiple fixed positions, and the mechanical arm can be described in the fixed bearing of selectivity One of multiple fixed positions.
The present invention at least includes following beneficial effect：
Installation manipulator arm on vehicle repair chair, saves the muscle power of maintainer, need to only lean against on Deck ckair for automobile repairing and be operated；Control Device processed is capable of the movement of more accurately control machinery arm.
Further advantage of the invention, target and feature embody part by following explanation, and part will also be by this The research and practice of invention and be understood by the person skilled in the art.
Brief description of the drawings
Fig. 1 is the structure chart of reparing device for vehicle of the invention.
Fig. 2 is the structure chart of the mechanical arm of reparing device for vehicle of the invention.
Fig. 3 is the structure chart of the mechanical arm of reparing device for vehicle of the invention
Fig. 4 is the structure chart of manipulator of the invention.
Fig. 5 is the structure chart of transmission device of the invention.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art with reference to specification text Word can be implemented according to this.
It should be appreciated that it is used herein such as " have ", "comprising" and " including " term do not allot one or many The presence or addition of individual other elements or its combination.
Fig. 1 shows a kind of way of realization of the invention, a kind of reparing device for vehicle with controllable mechanical arm, bag Include：Backrest 100, base 200, mechanical arm 300, transmission mechanism 400 and controller, the backrest 100 and base 200 are by passing Motivation structure 400 is connected and realizes backrest 100 and the relative slip of base, and the mechanical arm 300 is fixed on base 200, replaces Hand for maintainer carries out upkeep operation, and the controller receives the motion of signal and control machinery arm 300.
Backrest 100 includes back rest and back-rest cover, and the back rest is the square box of metal material, and back-rest cover is set in and leans on In backrest.Backrest bottom symmetrical fixes the first mounting seat, and first mounting seat offers through hole, and through hole is used to connect driver Structure 400.
Base 200 includes pony sill, and pony sill is rectangular frame structure, and cushion is placed above the pony sill, under Side space houses transmission mechanism 400.The bottom symmetrical of pony sill fixes the second mounting seat, is offered in second mounting seat logical Hole.
As shown in Fig. 2 mechanical arm 300 includes support base 310, rotating disk 320, underarm 330, upper arm 340, connection wrist 350 With manipulator 360, the support base 310 is fixed on base 200, is provided with motor and decelerator in it, motor connection decelerator, Decelerator driving rotating disk 320 is rotated.Rotating disk 320 is rotatably connected with support base 310, its can driving mechanical arm 300 in plane Upper rotation.The underarm 330 is hinged with rotating disk 320 by the first jointed shaft, and the jointed shaft connects the first motor, is used for Jointed shaft is driven to be rotated, so as to drive underarm 330 to be rotated around the first jointed shaft；Upper arm 340 and underarm 330 are by the Two jointed shafts are hinged, and second jointed shaft connects the second motor, for driving the second jointed shaft to rotate, so as to drive Arm is rotated around the second jointed shaft；Connection wrist 350 is hinged with upper arm 340；
Manipulator 360, including connecting seat 361, palm 362 and finger 363, the connecting seat 361 are fixed with wrist 350 is connected Connection, palm 362 is hinged with connecting seat 361, and finger 363 is hinged with palm 362.5 fingers 363 copy the finger of people to pacify On palm 362, finger 363 includes first knuckle, second knuckle and third knuckle, and the first knuckle, its end is hinged Palm, jointed shaft is driven by small-sized motor, and motor is arranged on inside palm, and its top is rotatably connected by the first rotary shaft Second knuckle end, the first rotary shaft connects small-sized motor；Second knuckle, its top is rotatably connected by the second rotary shaft Third knuckle end, second rotary shaft connects small-sized motor；Third knuckle, its end can capture for ramp structure Object, the third knuckle is arranged on finger foremost.
As illustrated, transmission device 400 includes the first driving section, the second driving section, the first move portion.Second move portion and Driving-chain 450：
First driving section, including first gear 411 and connecting shaft 412, connecting shaft 412 sequentially pass through the first of backrest 100 The through hole of the through hole of mounting seat and the second mounting seat, and be fixedly connected in the first mounting seat, it is rotatably connected with the second mounting seat；The The symmetrical both ends for being fixed on connecting shaft 412 of one gear 411.When rotary backrest 100, it drives connecting shaft 412 to rotate, and band Dynamic first gear 411 thereon is rotated.
Second driving section, including second gear 421 and power transmission shaft 422, the second gear 421 are symmetrically fixed on power transmission shaft 422 two ends, power transmission shaft 421 be arranged in parallel with connecting shaft 412, and its spacing can be such that first gear 411 is mutually nibbled with second gear 421 Close, second gear 411 is imparted power to second gear 421；
First move portion, including the first movement travelling gear 432 of leg 431 and first, the first movement leg 431 include that first is horizontal Axle 431a and mobile leg 431b, first transverse axis 431a one end is fixedly connected mobile leg 431b, and the first transverse axis 431a is fixedly connected the One travelling gear 432, the first travelling gear 432 is engaged with second gear 421, and power is transferred into the first travelling gear 432.The One move portion is symmetricly set on base 200 near the both sides of backrest end, is slidably connected with base 200, when second gear 421 will be dynamic When power passes to the first travelling gear 432, the first travelling gear 432 drives first to move leg 431 and rotates.
Second move portion, including the second movement travelling gear 442 of leg 441 and second；Second movement leg 441 includes that second is horizontal Axle 441a and mobile leg 441b, second transverse axis 441a one end is fixedly connected mobile leg 441b, and the second transverse axis 441a is fixedly connected the Two travelling gears 442, the second travelling gear 442 is connected with the first travelling gear 432 by driving-chain 450, and power is transferred to Second travelling gear 442.Second move portion is symmetricly set on both sides of the base 200 away from the end of backrest 100, is slided with base 200 Connection, the first travelling gear 432 imparts power to the second travelling gear 442, the second travelling gear 442 by driving-chain 450 Drive second to move leg 441 to rotate.
Control device includes sensor, analysis and display unit and Single-chip Controlling and communication system, and sensor can be clapped Take the photograph working region image and be transferred to analysis and display unit be analyzed, MCU driving mechanical arm carries out corresponding operating.
Sensor, preferably matrix CCD, it is arranged on base 200 and mechanical arm 300, and it can shoot Image transmitting is simultaneously given analysis and display unit by the image of working region.
Analysis and display unit, including analyzer, display and ultramagnifier, the analysis and display unit and Deck ckair for automobile repairing It is installed separately, installed in operation bench region, chaise longue is connected by communication system.The image information of analyzer reception sensor simultaneously will Image information after treatment by being converted to coordinate information；Display is by image storage and shows, operating personnel can be by aobvious Show that device observes the image of working region, ultramagnifier its can compare mechanical arm real time kinematics coordinate and purpose coordinate error simultaneously It is transferred to single-chip microcomputer.The image that sensor shoots is stored and is presented to staff by the display, is easy to staff Solution situation, analyzer will be converted to coordinate information after image procossing, and plan the movement locus of mechanical arm, afterwards believe coordinate The motion trace data for ceasing and estimating is transferred to Single-chip Controlling and communication system.
Single-chip Controlling and communication system, it is arranged in base, after receiving the data of analysis and display unit, control machine Tool arm is moved according to the movement locus estimated, meanwhile, the movement locus coordinate of ultramagnifier real-time reception machinery arm, and will be real When movement locus with estimate the error propagation of movement locus to analyzer, analyzer is adjusted, and transmits information to monolithic Machine, the rotating disk 320 of Single-chip Controlling mechanical arm 300, underarm 330, upper arm 340, connection wrist 350 and manipulator 360 are in three-dimensional Moved in space, and rectified a deviation, until moving to target.
The operating process of intelligent apparatus is as follows：
Step 1：Maintainer adjusts Deck ckair for automobile repairing to flat condition, and operation Deck ckair for automobile repairing is moved to maintenance position；
Step 2：Ccd sensor shoots the image of working region and transmits it to analysis and display unit, at analyzer Reason obtains the coordinate data of object, and outside maintainer can observe image by display；
Step 3：Analysis and display unit transmit to Single-chip Controlling and communication system coordinate data, and it receives number of coordinates According to MCU driving mechanical arm carries out three-dimensional motion to purpose coordinate；
Step 4：Ultramagnifier compares mechanical arm real time kinematics coordinate and purpose coordinate and result is fed back into single-chip microcomputer control System and communication system；
Step 5：Single-chip Controlling and communication system receive ultramagnifier signal, and control machinery arm accurately achieves the goal thing seat Mark.
As described above, the present invention has the advantages that：1st, installation manipulator arm on vehicle repair chair, saves maintainer's Muscle power, need to only lean against on Deck ckair for automobile repairing and be operated；2nd, controller is capable of the movement of more accurately control machinery arm.
Although embodiment of the present invention is disclosed as above, it is not restricted to listed in specification and implementation method With.It can be applied to various suitable the field of the invention completely.For those skilled in the art, can be easily Realize other modification.Therefore under the universal limited without departing substantially from claim and equivalency range, the present invention is not limited In specific details and shown here as the legend with description.

Claims (9)

1. a kind of reparing device for vehicle with controllable mechanical arm, it is characterised in that including：
Backrest and base, have slideway for supporting human body, the base；
Transmission device, it is used to adjust the angle between backrest and base, the transmission device connect base；And
Mechanical arm, it includes support base, rotating disk, underarm, upper arm, connection wrist and manipulator,
Support base, its one end is fixedly supported on the slideway of the base, and the support base includes the first motor；
Rotating disk, it is rotatably arranged on the other end of the support base, and first motor can drive rotating disk around described The vertical axis rotation of support base；
Underarm, its one end is hinged the rotating disk, and one end of the underarm also includes the second motor, and it drives the underarm around described Turntable rotation；
Upper arm, its one end is hinged the other end of the underarm, and the other end of the underarm also includes the 3rd motor, and it drives described Upper arm rotates；
Connection wrist, its other end for being hinged the upper arm, the upper arm includes the 4th motor, the rotation of its drive connection wrist；
Manipulator, it includes palm and finger, can dismantle or install part, and the manipulator is rotatably connected with wrist is connected, The connection wrist includes the 5th motor, and it drives the manipulator around the axis rotation of connection wrist；
The transmission device includes：
Gear train, be driven backrest rotatory force to mobile leg by it, and the gear train connects backrest and base by axle；
Mobile leg, it moves left and right moving towards for leg can drive base to be raised and lowered, the mobile leg connection gear train And base.
2. there is the reparing device for vehicle of controllable mechanical arm as claimed in claim 1, it is characterised in that including：
The mechanical arm has folding position, and when in off working state, the manipulator firmly grasps the opposite side of the base, In folding position.
3. there is the reparing device for vehicle of controllable mechanical arm as claimed in claim 2, it is characterised in that including：
Sensor, its image for shooting working region and by image transmitting display unit, the sensor is arranged on base and machine On tool arm；
Display unit, image storage and will show；
Single-chip Controlling and communication system, its can control machinery arm and transmission mechanism carry out corresponding actions, the single-chip microcomputer Control and communication system linking parsing and display unit, feedback unit and mechanical arm；
Wherein, display unit also includes ultramagnifier, its error that can compare mechanical arm real time kinematics coordinate and purpose coordinate And it is transferred to single-chip microcomputer.
4. there is the reparing device for vehicle of controllable mechanical arm as claimed in claim 3, it is characterised in that the sensor is face battle array Ccd sensor.
5. there is the reparing device for vehicle of controllable mechanical arm as claimed in claim 4, it is characterised in that also include：
Reclining apparatus, its built-in Serve Motor Control backrest rotation, and locked with wind spring and position the position of backrest, the angle modulation Device is symmetrically mounted on the junction of backrest and base.
6. there is the reparing device for vehicle of controllable mechanical arm as claimed in claim 5, it is characterised in that also include：
Universal wheel, it drives mobile leg movement, and the universal wheel is fixed on mobile leg bottom.
7. there is the reparing device for vehicle of controllable mechanical arm as claimed in claim 1, it is characterised in that the finger includes：
First knuckle, its one end is hinged palm, and the other end is by the first rotary shaft rotatable connection second knuckle one end, described first Rotary shaft connects the first motor；
Second knuckle, its other end is driven by the second rotary shaft rotary link third knuckle, the second rotary shaft connection second Dynamic motor；
Third knuckle, its end can capture object for ramp structure, and the third knuckle is arranged on finger foremost.
8. the reparing device for vehicle with controllable mechanical arm as any one of claim 1-7, it is characterised in that the machine Tool arm is multiple, is staggered on the base.
9. there is the reparing device for vehicle of controllable mechanical arm as claimed in claim 8, it is characterised in that the slideway has multiple Fixed position, the mechanical arm is capable of one of the multiple fixed position of fixed bearing of selectivity.
CN201610005092.1A 2016-01-05 2016-01-05 A kind of reparing device for vehicle with controllable mechanical arm Expired - Fee Related CN105500339B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610005092.1A CN105500339B (en) 2016-01-05 2016-01-05 A kind of reparing device for vehicle with controllable mechanical arm

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Application Number Priority Date Filing Date Title
CN201610005092.1A CN105500339B (en) 2016-01-05 2016-01-05 A kind of reparing device for vehicle with controllable mechanical arm

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CN105500339B true CN105500339B (en) 2017-07-04

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110085343A (en) * 2019-05-16 2019-08-02 成都南方电子仪表有限公司 A kind of retired device of radioactivity factory building chimney

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN87208359U (en) * 1987-05-18 1988-03-30 华磊明 Portable twopurpose pad for repairing automobile
JP2011042006A (en) * 2009-08-21 2011-03-03 Honda Motor Co Ltd Suction device and suction method using the same
CN202781175U (en) * 2012-09-04 2013-03-13 上海松盛机器人系统有限公司 Mechanical arm structure for battery change of electric automobile
CN202805172U (en) * 2012-10-19 2013-03-20 黄启娜 Maintenance mat special for automotive engineering
CN103752967B (en) * 2014-01-18 2016-08-31 佳木斯大学 A kind of wire cutting machine device people for processed complex curved surface
CN204487534U (en) * 2015-03-23 2015-07-22 杨明平 A kind of tune back of the body formula hydraulic chair being exclusively used in motor-vehicle chassis maintenance
CN205254973U (en) * 2016-01-05 2016-05-25 辽宁工业大学 Car chair is repaiied in removal of make -up machinery hand

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