CN105945908B - A kind of swing folding scraper bowl - Google Patents
A kind of swing folding scraper bowl Download PDFInfo
- Publication number
- CN105945908B CN105945908B CN201610318606.9A CN201610318606A CN105945908B CN 105945908 B CN105945908 B CN 105945908B CN 201610318606 A CN201610318606 A CN 201610318606A CN 105945908 B CN105945908 B CN 105945908B
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- China
- Prior art keywords
- telescopic rod
- revolute pair
- scraper bowl
- connecting rod
- sliding sleeve
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 14
- 239000012636 effector Substances 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000005507 spraying Methods 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of swing folding scraper bowl, the root of first scraper bowl and the second scraper bowl is installed together by revolute pair one, first scraper bowl back is equipped with first sliding groove, second scraper bowl back is equipped with second sliding slot, large arm lower end is connected on pedestal by revolute pair two, large arm upper end is connect by revolute pair three with first telescopic rod one end, the first telescopic rod other end is connected in the shaft of revolute pair one, second telescopic rod lower end is connected on pedestal by revolute pair four, second telescopic rod upper end is connected on the first sliding sleeve by revolute pair five, first sliding sleeve was sleeved on the second half section of the first telescopic rod.This scraper bowl has the characteristics that no accumulated error, precision are small compared with high, compact-sized, large carrying capacity, rigidity height and end effector inertia, and driving device can be placed in the position on fixed platform or close to fixed platform, and such motion parts are light-weight, and speed is high.
Description
Technical field
The present invention relates to machinery field, specifically a kind of swing opens and closes scraper bowl.
Background technique
Increased by the demand picked that mechanical arm carries out object.Pick refer to from the multiple objects accumulated in a jumble according to
One object of secondary holding is simultaneously transported to specified place.In the case where being picked to the object accumulated in a jumble, for being arranged
The cost spatially of each parts feeder, the temporal cost for operating each parts feeder have time-varying more.
Traditional mechanical arm has many advantages, such as that structure is simple, at low cost, working space is big, still, in contrast cascade machine
Device people's rigidity is low, may not apply to high speed, the occasion carried greatly；Stacking leads to that robot arm weight is big, poor rigidity, inertia
Greatly, the problems such as joint error is accumulative, mechanism dynamic performance is poor, it is difficult to meet the requirement that high speed carries stacking.With motor
The development of technology and the raising of control technology, controllable mechanical mechanism provide wide development space for engineering machinery, also exist
New requirements at the higher level are proposed in service performance.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of swings to open and close scraper bowl.
To achieve the goals above, the invention adopts the following technical scheme：
A kind of swing opens and closes scraper bowl, including the first scraper bowl, the second scraper bowl, pedestal, large arm, the first telescopic rod, second flexible
Bar, the first sliding sleeve, first connecting rod, second connecting rod, the first sliding block, third telescopic rod, the second sliding sleeve, third connecting rod, fourth link,
Second sliding block, the 4th telescopic rod, third sliding sleeve and running gear,
The root of first scraper bowl and the second scraper bowl is installed together by revolute pair one, and it is sliding that the first scraper bowl back is equipped with first
Slot, the second scraper bowl back are equipped with second sliding slot,
Large arm lower end is connected on pedestal by revolute pair two, and large arm upper end passes through revolute pair three and first telescopic rod one end
Connection, the first telescopic rod other end are connected in the shaft of revolute pair one,
Second telescopic rod lower end is connected on pedestal by revolute pair four, and the second telescopic rod upper end is connected by revolute pair five
On the first sliding sleeve, the first sliding sleeve was sleeved on the second half section of the first telescopic rod,
First connecting rod one end is fixedly connected in the first telescopic rod front half section, the first connecting rod other end by revolute pair six with
The connection of second connecting rod one end, the second connecting rod other end are connected on the first sliding block by revolute pair seven, and the first sliding block is mounted on the
In one sliding slot, third telescopic rod one end is connected on first connecting rod by revolute pair eight, and the third telescopic rod other end passes through rotation
Pair nine is connected on the second sliding sleeve, and the second sliding sleeve is sleeved on second connecting rod,
Third connecting rod one end is fixedly connected in the first telescopic rod front half section, the third connecting rod other end by revolute pair ten with
The connection of fourth link one end, the fourth link other end are connected on the second sliding block by revolute pair 11, and the second sliding block is mounted on
In second sliding slot, the 4th telescopic rod one end is connected on third connecting rod by revolute pair 12, and the 4th telescopic rod other end passes through
Revolute pair 13 is connected on third sliding sleeve, and third sliding sleeve is sleeved in fourth link,
Pedestal is mounted on running gear by revolute pair 14.
The second half section of first telescopic rod refers to one section close to revolute pair three, and the front half section of the first telescopic rod, which refers to, to be leaned on
One section of nearly revolute pair one.
Compared with prior art, the beneficial effect that the present invention has：
The present invention is with no accumulated error, precision is higher, compact-sized, large carrying capacity, rigidity are high and end effector
The features such as inertia is small, driving device can be placed in the position on fixed platform or close to fixed platform, and such motion parts are light-weight, speed
Height, dynamic response is good, has that working space is big, rigidity is high, bearing capacity is strong, inertia is small and end effector precision height etc. is excellent
Point can be applied in the complex jobs such as welding, spraying, carrying, handling, assembly, stacking, and effective improves labor efficiency,
It improves a lot in terms of product quality and stability.Not only big, flexible movements, high reliablity with working space, while also having
There is the advantages that manufacturing cost is low, and maintenance is simple.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the present invention for swinging folding scraper bowl.
Fig. 2 is the partial enlargement structural representation of the present invention for swinging folding scraper bowl.
Specific embodiment
Technical solution of the present invention is further elaborated below by embodiment.
Embodiment 1
A kind of swing folding scraper bowl, including the first scraper bowl 14, the second scraper bowl 15, pedestal 16, large arm 17, the first telescopic rod
18, the second telescopic rod 19, the first sliding sleeve 20, first connecting rod 21, second connecting rod 22, the first sliding block 23, third telescopic rod 24, second
Sliding sleeve 25, third connecting rod 26, fourth link 27, the second sliding block 28, the 4th telescopic rod 29, third sliding sleeve 30 and running gear,
The root of first scraper bowl 14 and the second scraper bowl 15 is installed together by revolute pair 1, and 14 back of the first scraper bowl is set
There is first sliding groove, 15 back of the second scraper bowl is equipped with second sliding slot,
17 lower end of large arm is connected on pedestal 16 by revolute pair 22, and 17 upper end of large arm is stretched by revolute pair 33 with first
The connection of 18 one end of contracting bar, 18 other end of the first telescopic rod are connected in the shaft of revolute pair 1,
Second telescopic rod, 19 lower end is connected on pedestal 16 by revolute pair 44, and 19 upper end of the second telescopic rod passes through rotation
Pair 55 is connected on the first sliding sleeve 20, and the first sliding sleeve 20 was sleeved on the second half section of the first telescopic rod 18,
21 one end of first connecting rod is fixedly connected in 18 front half section of the first telescopic rod, and 21 other end of first connecting rod passes through rotation
Pair 66 is connect with 22 one end of second connecting rod, and 22 other end of second connecting rod is connected on the first sliding block 20 by revolute pair 77, the
One sliding block 20 is mounted in first sliding groove, and 24 one end of third telescopic rod is connected on first connecting rod 21 by revolute pair 88, third
24 other end of telescopic rod 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,
26 one end of third connecting rod is fixedly connected in 18 front half section of the first telescopic rod, and 26 other end of third connecting rod passes through rotation
Pair 10 is connect with 27 one end of fourth link, and 27 other end of fourth link is connected to the second sliding block 28 by revolute pair 11
On, the second sliding block 28 is mounted in second sliding slot, and 29 one end of the 4th telescopic rod is connected to third connecting rod by revolute pair 12
On 26,29 other end of the 4th telescopic rod is connected on third sliding sleeve 30 by revolute pair 13, and third sliding sleeve 30 is sleeved on the
On double leval jib 27,
Pedestal 16 is mounted on running gear by revolute pair 14.
The second half section of first telescopic rod 18 refers to one section close to revolute pair 33, the front half section of the first telescopic rod 18
Refer to one section close to revolute pair 1.
Claims (1)
1. the root of a kind of swing folding scraper bowl, including the first scraper bowl and the second scraper bowl, the first scraper bowl and the second scraper bowl is by turning
Dynamic pair one is installed together, which is characterized in that further includes pedestal, large arm, the first telescopic rod, the second telescopic rod, the first sliding sleeve, the
One connecting rod, second connecting rod, the first sliding block, third telescopic rod, the second sliding sleeve, third connecting rod, fourth link, the second sliding block, the 4th
Telescopic rod, third sliding sleeve and running gear,
First scraper bowl back is equipped with first sliding groove, and the second scraper bowl back is equipped with second sliding slot,
Large arm lower end is connected on pedestal by revolute pair two, and large arm upper end is connected by revolute pair three and first telescopic rod one end
It connecing, the first telescopic rod other end is connected in the shaft of revolute pair one,
Second telescopic rod lower end is connected on pedestal by revolute pair four, and the second telescopic rod upper end is connected to the by revolute pair five
On one sliding sleeve, the first sliding sleeve was sleeved on the second half section of the first telescopic rod,
First connecting rod one end is fixedly connected in the first telescopic rod front half section, and the first connecting rod other end passes through revolute pair six and second
The connection of connecting rod one end, the second connecting rod other end are connected on the first sliding block by revolute pair seven, and it is sliding that the first sliding block is mounted on first
In slot, third telescopic rod one end is connected on first connecting rod by revolute pair eight, and the third telescopic rod other end passes through revolute pair nine
It being connected on the second sliding sleeve, the second sliding sleeve is sleeved on second connecting rod,
Third connecting rod one end is fixedly connected in the first telescopic rod front half section, and the third connecting rod other end passes through revolute pair ten and the 4th
The connection of connecting rod one end, the fourth link other end are connected on the second sliding block by revolute pair 11, and the second sliding block is mounted on second
In sliding slot, the 4th telescopic rod one end is connected on third connecting rod by revolute pair 12, and the 4th telescopic rod other end passes through rotation
Pair 13 is connected on third sliding sleeve, and third sliding sleeve is sleeved in fourth link,
Pedestal is mounted on running gear by revolute pair 14.
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 CN105945908A (en) | 2016-09-21 |
| CN105945908B true CN105945908B (en) | 2018-11-27 |
Family
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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 |
| CN105252521A (en) * | 2015-11-20 | 2016-01-20 | 覃煦 | Multiple-degree-of-freedom industrial robot manipulator |
| CN105252523A (en) * | 2015-11-20 | 2016-01-20 | 覃煦 | Controllable mechanism type 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 |
| CN105252521A (en) * | 2015-11-20 | 2016-01-20 | 覃煦 | Multiple-degree-of-freedom industrial robot manipulator |
| CN105252523A (en) * | 2015-11-20 | 2016-01-20 | 覃煦 | Controllable mechanism type 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 |
|---|---|
| CN105945908A (en) | 2016-09-21 |
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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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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 |