CN105945908A - Swinging opening and closing bucket - Google Patents
Swinging opening and closing bucket Download PDFInfo
- Publication number
- CN105945908A CN105945908A CN201610318606.9A CN201610318606A CN105945908A CN 105945908 A CN105945908 A CN 105945908A CN 201610318606 A CN201610318606 A CN 201610318606A CN 105945908 A CN105945908 A CN 105945908A
- Authority
- CN
- China
- Prior art keywords
- expansion link
- revolute pair
- connecting rod
- sliding sleeve
- scraper bowl
- 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.)
- Granted
Links
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 3
- 239000012636 effector Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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
Abstract
The invention provides a swinging opening and closing bucket. The root part of a first bucket body and the root part of a second bucket body are installed together through a first rotation pair. A first slide groove is formed in the back portion of the first bucket body. A second slide groove is formed in the back portion of the second bucket body. The lower end of a large arm is connected to a base through a second rotation pair. The upper end of the large arm is connected with one end of a first telescopic rod through a third rotation pair. The other end of the first telescopic rod is connected to a rotating shaft of the first rotation pair. The lower end of a second telescopic rod is connected to the base through a fourth rotation pair. The upper end of the second telescopic rod is connected to a first slide sleeve through a fifth rotation pair. The first slide sleeve is arranged on the rear half section of the first telescopic rod in a sleeving manner. The bucket has the beneficial effects of being free of accumulated errors, high in precision, compact in structure, large in bearing capacity, high in rigidity, small in tail end executor inertia and the like, a drive device can be arranged on a fixed platform or arranged at the position close to the fixed platform, and in this way, a movement part is small in weight and high in speed.
Description
Technical field
The present invention relates to mechanical field, specifically a kind of swing folding scraper bowl.
Background technology
The demand picked being carried out object by mechanical arm increases.Pick and refer to hold successively from the mixed and disorderly multiple objects piled up
One object is also transported to the place specified.In the case of the mixed and disorderly object piled up is picked, it is used for arranging each part
The cost spatially of feeder, there is time-varying many for operating the temporal cost of each parts feeder.
Traditional mechanical arm has the advantages such as simple in construction, low cost, work space be big, but, serial manipulator comparatively speaking
Rigidity is low, it is impossible to be applied at a high speed, the occasion of big carrying；Piling causes that robot arm weight is big, poor rigidity, inertia big,
The problems such as joint error is accumulative, mechanism dynamic poor-performing, it is difficult to meet the requirement carrying at a high speed piling.Along with motor technology
Development and control technology raising, controllable mechanical mechanism is that engineering machinery provides wide development space, also at usability
New requirements at the higher level are proposed on can.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, it is provided that a kind of swing folding scraper bowl.
To achieve these goals, present invention employs techniques below scheme:
A kind of swing folding scraper bowl, including the first scraper bowl, the second scraper bowl, base, large arm, the first expansion link, the second expansion link,
First sliding sleeve, first connecting rod, second connecting rod, the first slide block, the 3rd expansion link, the second sliding sleeve, third connecting rod, fourth link,
Second slide block, the 4th expansion link, the 3rd sliding sleeve and running gear,
The root of the first scraper bowl and the second scraper bowl is installed together by revolute pair one, and the first scraper bowl back is provided with the first chute, the
Two scraper bowl backs are provided with the second chute,
Large arm lower end is connected on base by revolute pair two, and large arm upper end is connected with first expansion link one end by revolute pair three,
The first expansion link other end is connected in the rotating shaft of revolute pair one,
Second expansion link lower end is connected on base by revolute pair four, and the second expansion link upper end is connected to first by revolute pair five
On sliding sleeve, the first sliding sleeve was sleeved on the second half section of the first expansion link,
First connecting rod one end is fixedly connected in the first expansion link first half section, and the first connecting rod other end is connected by revolute pair six and second
Bar one end connects, and the second connecting rod other end is connected on the first slide block by revolute pair seven, and the first slide block is arranged in the first chute,
3rd expansion link one end is connected on first connecting rod by revolute pair eight, and the 3rd expansion link other end is connected to the by revolute pair nine
On two sliding sleeves, the second sliding sleeve is sleeved on second connecting rod,
Third connecting rod one end is fixedly connected in the first expansion link first half section, and the third connecting rod other end is by revolute pair the ten and the 3rd even
Bar one end connects, and the third connecting rod other end is connected on the second slide block by revolute pair 11, and the second slide block is arranged on the second chute
In, the 4th expansion link one end is connected on third connecting rod by revolute pair 12, and the 4th expansion link other end passes through revolute pair 13
Being connected on the 3rd sliding sleeve, the 3rd sliding sleeve is sleeved in fourth link,
Base is arranged on running gear by revolute pair 14.
The second half section of described first expansion link refers to a section near revolute pair three, and the first half section of the first expansion link refers near rotation
One section of secondary one.
Compared with prior art, the beneficial effect that the present invention possesses:
The present invention has without cumulative error, precision compared with high, compact conformation, bearing capacity is big, rigidity is high and end effector inertia
The feature such as little, driving means is placed on fixed platform or close to the position of fixed platform, such motion parts is lightweight, and speed is high,
Dynamic response is good, has that work space is big, rigidity is high, bearing capacity is strong, inertia is little and end effector precision advantages of higher,
Can apply welding, spray, carry, load and unload, assemble, in the complex job such as piling, effective raises labour efficiency,
Product quality and stability aspect improve a lot.Not only have that work space is big, flexible movements, reliability high, the most also have
There is low cost of manufacture, the advantages such as maintaining is simple.
Accompanying drawing explanation
Fig. 1 is the structural representation of swing folding scraper bowl of the present invention.
Fig. 2 is the partial enlargement structural representation of swing folding scraper bowl of the present invention.
Detailed description of the invention
Below by embodiment, technical scheme is further elaborated.
Embodiment 1
A kind of swing folding scraper bowl, including first scraper bowl the 14, second scraper bowl 15, base 16, large arm the 17, first expansion link 18,
Second expansion link the 19, first sliding sleeve 20, first connecting rod 21, second connecting rod the 22, first slide block 23, the 3rd expansion link 24,
Two sliding sleeves 25, third connecting rod 26, fourth link the 27, second slide block the 28, the 4th expansion link the 29, the 3rd sliding sleeve 30 and row
Walking apparatus,
The root of the first scraper bowl 14 and the second scraper bowl 15 is installed together by revolute pair 1, and the first scraper bowl 14 back is provided with the
One chute, the second scraper bowl 15 back is provided with the second chute,
Large arm 17 lower end is connected on base 16 by revolute pair 22, is stretched by revolute pair 33 and first in large arm 17 upper end
Bar 18 one end connects, and first expansion link 18 other end is connected in the rotating shaft of revolute pair 1,
Second expansion link 19 lower end is connected on base 16 by revolute pair 44, and revolute pair five is passed through in the second expansion link 19 upper end
5 are connected on the first sliding sleeve 20, and the first sliding sleeve 20 was sleeved on the second half section of the first expansion link 18,
First connecting rod 21 one end is fixedly connected in the first expansion link 18 first half section, and first connecting rod 21 other end passes through revolute pair six
6 are connected with second connecting rod 22 one end, and second connecting rod 22 other end is connected on the first slide block 20 by revolute pair 77, and first
Slide block 20 is arranged in the first chute, and the 3rd expansion link 24 one end is connected on first connecting rod 21 by revolute pair 88, and the 3rd
Expansion link 24 other end is connected on the second sliding sleeve 25 by revolute pair 99, and the second sliding sleeve 25 is sleeved on second connecting rod 22,
Third connecting rod 26 one end is fixedly connected in the first expansion link 18 first half section, and third connecting rod 26 other end passes through revolute pair ten
10 are connected with third connecting rod 26 one end, and third connecting rod 26 other end is connected on the second slide block 28 by revolute pair 11,
Second slide block 28 is arranged in the second chute, and the 4th expansion link 29 one end is connected to third connecting rod 26 by revolute pair 12
On, the 4th expansion link 29 other end is connected on the 3rd sliding sleeve 30 by revolute pair 13, and the 3rd sliding sleeve 30 is sleeved on the
On double leval jib 27,
Base 16 is arranged on running gear by revolute pair 14.
The second half section of described first expansion link 18 refers to a section near revolute pair 33, and the first half section of the first expansion link 18 refers to
Near revolute pair 1 one section.
Claims (1)
1. one kind swing folding scraper bowl, it is characterised in that include the first scraper bowl, the second scraper bowl, base, large arm, first stretch
Bar, the second expansion link, the first sliding sleeve, first connecting rod, second connecting rod, the first slide block, the 3rd expansion link, the second sliding sleeve,
Three connecting rods, fourth link, the second slide block, the 4th expansion link, the 3rd sliding sleeve and running gear,
The root of the first scraper bowl and the second scraper bowl is installed together by revolute pair one, and the first scraper bowl back is provided with the first chute, the
Two scraper bowl backs are provided with the second chute,
Large arm lower end is connected on base by revolute pair two, and large arm upper end is connected with first expansion link one end by revolute pair three,
The first expansion link other end is connected in the rotating shaft of revolute pair one,
Second expansion link lower end is connected on base by revolute pair four, and the second expansion link upper end is connected to first by revolute pair five
On sliding sleeve, the first sliding sleeve was sleeved on the second half section of the first expansion link,
First connecting rod one end is fixedly connected in the first expansion link first half section, and the first connecting rod other end is connected by revolute pair six and second
Bar one end connects, and the second connecting rod other end is connected on the first slide block by revolute pair seven, and the first slide block is arranged in the first chute,
3rd expansion link one end is connected on first connecting rod by revolute pair eight, and the 3rd expansion link other end is connected to the by revolute pair nine
On two sliding sleeves, the second sliding sleeve is sleeved on second connecting rod,
Third connecting rod one end is fixedly connected in the first expansion link first half section, and the third connecting rod other end is by revolute pair the ten and the 3rd even
Bar one end connects, and the third connecting rod other end is connected on the second slide block by revolute pair 11, and the second slide block is arranged on the second chute
In, the 4th expansion link one end is connected on third connecting rod by revolute pair 12, and the 4th expansion link other end passes through revolute pair 13
Being connected on the 3rd sliding sleeve, the 3rd sliding sleeve is sleeved in fourth link,
Base is arranged on running gear by revolute pair 14.
The second half section of described first expansion link refers to a section near revolute pair three, and the first half section of the first expansion link refers near rotation
One section of secondary one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610318606.9A CN105945908B (en) | 2016-05-15 | 2016-05-15 | A kind of swing folding scraper bowl |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610318606.9A CN105945908B (en) | 2016-05-15 | 2016-05-15 | A kind of swing folding scraper bowl |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105945908A true CN105945908A (en) | 2016-09-21 |
| CN105945908B CN105945908B (en) | 2018-11-27 |
Family
ID=56911498
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610318606.9A Active CN105945908B (en) | 2016-05-15 | 2016-05-15 | A kind of swing folding scraper bowl |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105945908B (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009214194A (en) * | 2008-03-07 | 2009-09-24 | Okura Yusoki Co Ltd | Stacking device, and stacking method |
| CN103029124A (en) * | 2012-12-27 | 2013-04-10 | 广西大学 | Multi-degree-of-freedom controllable mechanism type stacking robot |
| CN103726532A (en) * | 2013-12-17 | 2014-04-16 | 广西大学 | Controllable symmetrical-and-parallel mechanism type loader |
| CN105252523A (en) * | 2015-11-20 | 2016-01-20 | 覃煦 | Controllable mechanism type industrial robot manipulator |
| CN105252521A (en) * | 2015-11-20 | 2016-01-20 | 覃煦 | Multiple-degree-of-freedom industrial robot manipulator |
| CN105313107A (en) * | 2015-11-10 | 2016-02-10 | 南宁邃丛赋语科技开发有限责任公司 | Rotatable manipulation arm with metamorphic function |
| CN105328712A (en) * | 2015-11-10 | 2016-02-17 | 南宁邃丛赋语科技开发有限责任公司 | Multi-freedom-degree industrial machine operation arm mechanism |
| CN105328695A (en) * | 2015-11-10 | 2016-02-17 | 南宁邃丛赋语科技开发有限责任公司 | Controllable mechanism type movable mechanical arm |
| CN105397804A (en) * | 2015-11-20 | 2016-03-16 | 覃珠强 | Industrial robot manipulator capable of achieving multi-angle working |
| CN105522556A (en) * | 2016-01-25 | 2016-04-27 | 佛山市南海区广工大数控装备协同创新研究院 | Four-degree-of-freedom multi-loop series-parallel mechanical arm |
| CN205905004U (en) * | 2016-05-15 | 2017-01-25 | 广西南宁栩兮科技有限公司 | Swing scraper bowl that opens and shuts |
-
2016
- 2016-05-15 CN CN201610318606.9A patent/CN105945908B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009214194A (en) * | 2008-03-07 | 2009-09-24 | Okura Yusoki Co Ltd | Stacking device, and stacking method |
| CN103029124A (en) * | 2012-12-27 | 2013-04-10 | 广西大学 | Multi-degree-of-freedom controllable mechanism type stacking robot |
| CN103726532A (en) * | 2013-12-17 | 2014-04-16 | 广西大学 | Controllable symmetrical-and-parallel mechanism type loader |
| CN105313107A (en) * | 2015-11-10 | 2016-02-10 | 南宁邃丛赋语科技开发有限责任公司 | Rotatable manipulation arm with metamorphic function |
| CN105328712A (en) * | 2015-11-10 | 2016-02-17 | 南宁邃丛赋语科技开发有限责任公司 | Multi-freedom-degree industrial machine operation arm mechanism |
| CN105328695A (en) * | 2015-11-10 | 2016-02-17 | 南宁邃丛赋语科技开发有限责任公司 | Controllable mechanism type movable mechanical arm |
| CN105252523A (en) * | 2015-11-20 | 2016-01-20 | 覃煦 | Controllable mechanism type industrial robot manipulator |
| CN105252521A (en) * | 2015-11-20 | 2016-01-20 | 覃煦 | Multiple-degree-of-freedom industrial robot manipulator |
| CN105397804A (en) * | 2015-11-20 | 2016-03-16 | 覃珠强 | Industrial robot manipulator capable of achieving multi-angle working |
| CN105522556A (en) * | 2016-01-25 | 2016-04-27 | 佛山市南海区广工大数控装备协同创新研究院 | Four-degree-of-freedom multi-loop series-parallel mechanical arm |
| CN205905004U (en) * | 2016-05-15 | 2017-01-25 | 广西南宁栩兮科技有限公司 | Swing scraper bowl that opens and shuts |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105945908B (en) | 2018-11-27 |
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| TR01 | Transfer of patent right |
Effective date of registration: 20201118 Address after: Room 502, building 1, Jingxiu family, Huangjing Town, Taicang City, Suzhou City, Jiangsu Province Patentee after: Taicang Daimeng rabbit Clothing Co.,Ltd. Address before: 530022 the Guangxi Zhuang Autonomous Region Nanning Qingxiu District National Road No. 131 Hangyang international city building 2, room 1712 Patentee before: GUANGXI NANNING XUXI TECHNOLOGY Co.,Ltd. |
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| TR01 | Transfer of patent right |
Effective date of registration: 20240407 Address after: No. 2 Wenchu Road, Huanggu District, Shenyang City, Liaoning Province, 110000 Patentee after: Shenyang Shengjing Fengte Machinery Equipment Manufacturing Co.,Ltd. Country or region after: China Address before: 215400 Room 502, building 1, Jingxiu family, Huangjing Town, Taicang City, Suzhou City, Jiangsu Province Patentee before: Taicang Daimeng rabbit Clothing Co.,Ltd. Country or region before: China |