CN106002946A - Operating manipulator for environment-friendly large-area sewage purification robot - Google Patents
Operating manipulator for environment-friendly large-area sewage purification robot Download PDFInfo
- Publication number
- CN106002946A CN106002946A CN201610471621.7A CN201610471621A CN106002946A CN 106002946 A CN106002946 A CN 106002946A CN 201610471621 A CN201610471621 A CN 201610471621A CN 106002946 A CN106002946 A CN 106002946A
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- Prior art keywords
- feeds intake
- rotating shaft
- intake
- fixed
- seat
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- 239000010865 sewage Substances 0.000 title claims abstract description 23
- 238000000746 purification Methods 0.000 title claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 230000006835 compression Effects 0.000 claims description 39
- 238000007906 compression Methods 0.000 claims description 39
- 239000000463 material Substances 0.000 claims description 25
- 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 description 24
- 235000021050 feed intake Nutrition 0.000 claims description 20
- 229910000831 Steel Inorganic materials 0.000 claims description 18
- 239000010959 steel Substances 0.000 claims description 18
- 230000007704 transition Effects 0.000 claims description 15
- 230000006698 induction Effects 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 10
- 238000005096 rolling process Methods 0.000 claims description 9
- 238000003860 storage Methods 0.000 claims description 8
- 230000009194 climbing Effects 0.000 claims 1
- 239000004744 fabric Substances 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 15
- 230000033001 locomotion Effects 0.000 description 22
- 230000000694 effects Effects 0.000 description 14
- 239000000126 substance Substances 0.000 description 13
- 238000000034 method Methods 0.000 description 8
- 238000004140 cleaning Methods 0.000 description 4
- 239000003814 drug Substances 0.000 description 4
- 239000008187 granular material Substances 0.000 description 4
- 230000006872 improvement Effects 0.000 description 4
- 239000000843 powder Substances 0.000 description 4
- UHOVQNZJYSORNB-UHFFFAOYSA-N Benzene Chemical compound C1=CC=CC=C1 UHOVQNZJYSORNB-UHFFFAOYSA-N 0.000 description 3
- LYCAIKOWRPUZTN-UHFFFAOYSA-N Ethylene glycol Chemical compound OCCO LYCAIKOWRPUZTN-UHFFFAOYSA-N 0.000 description 3
- 230000033228 biological regulation Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000013016 damping Methods 0.000 description 3
- 229940079593 drug Drugs 0.000 description 3
- 239000002574 poison Substances 0.000 description 3
- 231100000614 poison Toxicity 0.000 description 3
- 241000282326 Felis catus Species 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 239000001301 oxygen Substances 0.000 description 2
- 229910052760 oxygen Inorganic materials 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 230000014616 translation Effects 0.000 description 2
- SCYULBFZEHDVBN-UHFFFAOYSA-N 1,1-Dichloroethane Chemical class CC(Cl)Cl SCYULBFZEHDVBN-UHFFFAOYSA-N 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- RWSOTUBLDIXVET-UHFFFAOYSA-N Dihydrogen sulfide Chemical compound S RWSOTUBLDIXVET-UHFFFAOYSA-N 0.000 description 1
- LSDPWZHWYPCBBB-UHFFFAOYSA-N Methanethiol Chemical compound SC LSDPWZHWYPCBBB-UHFFFAOYSA-N 0.000 description 1
- 239000002253 acid Substances 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000003513 alkali Substances 0.000 description 1
- 229910052785 arsenic Inorganic materials 0.000 description 1
- RQNWIZPPADIBDY-UHFFFAOYSA-N arsenic atom Chemical compound [As] RQNWIZPPADIBDY-UHFFFAOYSA-N 0.000 description 1
- 238000011953 bioanalysis Methods 0.000 description 1
- 229910052793 cadmium Inorganic materials 0.000 description 1
- BDOSMKKIYDKNTQ-UHFFFAOYSA-N cadmium atom Chemical compound [Cd] BDOSMKKIYDKNTQ-UHFFFAOYSA-N 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000029087 digestion Effects 0.000 description 1
- 239000003651 drinking water Substances 0.000 description 1
- 235000020188 drinking water Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 229910000037 hydrogen sulfide Inorganic materials 0.000 description 1
- QSHDDOUJBYECFT-UHFFFAOYSA-N mercury Chemical compound [Hg] QSHDDOUJBYECFT-UHFFFAOYSA-N 0.000 description 1
- 244000005700 microbiome Species 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 239000007800 oxidant agent Substances 0.000 description 1
- 230000001590 oxidative effect Effects 0.000 description 1
- 239000002351 wastewater Substances 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
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
-
- 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
- B25J19/0008—Balancing devices
- B25J19/0016—Balancing devices using springs
-
- 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
- B25J19/0025—Means for supplying energy to the end effector
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
-
- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F1/00—Treatment of water, waste water, or sewage
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Water Supply & Treatment (AREA)
- Chemical & Material Sciences (AREA)
- Organic Chemistry (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an operating manipulator for an environment-friendly large-area sewage purification robot. The operating manipulator for the environment-friendly large-area sewage purification robot comprises a delta parallel mechanism and a feeding device. The delta parallel mechanism is located under the feeding device, and the upper end of the delta parallel mechanism is connected with the feeding device. The operating manipulator has direction and angle adjustment, charging and feeding functions and can also achieve the function of automatic feeding for sewage purification in the sewage treatment and purification process; in addition, the intelligentization degree is high, direction and angle adjustment is convenient and flexible, the feeding speed is high, and the feeding distance is long; and the problems that according to existing manual feeding by ship, the workload is large, the risk is high, and the efficiency is low are solved, and water resources are effectively protected.
Description
Technical field
The present invention relates to technical field of sewage, specifically one large area sewage purification environment-friendly type robot working rig
Tool hands.
Background technology
It is to be caused the use value of water reduce or lose by harmful chemical that water pollutes, and pollutes the water of environment, contains in sewage
The organic poisons such as the compound such as acid, alkali, oxidant and copper, cadmium, hydrargyrum, arsenic and benzene, dichloroethanes, ethylene glycol, can poison with poison
Aquatile, affects drinking water source, scenic spot view；The oxygen in water, shadow is consumed when Organic substance in sewage is decomposed by the microorganisms
Ringing hydrobiological life, after oxygen in water exhausts, Organic substance carries out anaerobic digestion, produces the unpleasant gas such as hydrogen sulfide, mercaptan
Body, makes water quality deteriorate further.China is that a shortage of water resources, water disaster are the most national, and gross amount of water resources occupies the world
Six, occupancy volume per person only has 2500 cubic metres, about the 1/4 of world's water yield per capita, arranges the 110th in the world, is joined
Close state and be classified as one of 13 poor-water countries；For many years, water resources in china quality constantly declines, and water environment is continuous worsening, due to dirt
Hydropenia and accident that dye is caused constantly occur, and not only make plant downtime, the agricultural underproduction even have no harvest, and cause bad
Social influence and bigger economic loss, seriously threatened the sustainable development of society, threatened the existence of the mankind.
Method for waste water control has Physical, chemical method and bioanalysis at present, and wherein chemical method administers sewage is exactly to sewage
Middle input chemicals, utilizes chemical reaction or physics chemical action to purify sewage, at present for reservoir, lake, river, pond
It is all artificial input chemicals in sewage by ship that the chemical method on the ground such as the pool purifies the mode of sewage, the most not only occupies a large amount of
Labour force, it is low to throw in efficiency, and has certain danger.In consideration of it, it is clean to the invention provides a kind of large area sewage
Change environment-friendly type robot manipulator.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of large area sewage purification environment-friendly type robot Work machine
Hands.
The present invention to solve its technical problem and realize by the following technical solutions.
A kind of large area sewage purification environment-friendly type robot manipulator, including delta parallel institution and charging device；Institute
The delta parallel institution stated is positioned at immediately below charging device, and delta parallel institution upper end is connected with charging device.
As a further improvement on the present invention, described delta parallel institution includes fixed platform, moving platform, motor cabinet, parallel connection
Motor, the first rotating shaft, first connecting rod, rotational pin, second connecting rod, the second rotating shaft, rotating basis and limit spring；Described
Fixed platform and moving platform the most rounded shape structure, moving platform is positioned at directly over fixed platform, and the quantity of motor cabinet and rotating basis is
Three, motor cabinet is fixed on fixed platform upper surface in equilateral triangle shape centered by the center of circle of fixed platform, and rotating basis is with moving platform
The center of circle centered by be arranged on moving platform lower surface in equilateral triangle shape, and motor cabinet installation site and rotating basis installation site
One_to_one corresponding respectively, parallel-connected induction motors is fixed installation by motor cabinet, and parallel-connected induction motors uses adjustable speed twin shaft output motor,
First rotating shaft one end is connected with parallel-connected induction motors main shaft, and the first rotating shaft other end is connected with first connecting rod upper end, under first connecting rod
Using rotational pin to be attached between end and second connecting rod upper end, second connecting rod lower end is connected with second rotating shaft one end, second turn
The axle other end is arranged on rotating basis, and rotating basis lower end is provided with swivel bearing, and swivel bearing and moving platform upper surface phase
Fixing, rotating basis upper end is provided with the double end sleeve matched with the second rotating shaft, in first connecting rod middle inside and second connecting rod
Middle side part is provided with the first mounting seat and the second mounting seat respectively, limit spring between the first mounting seat and the second mounting seat,
And limit spring upper end is connected with the first mounting seat, limit spring lower end is connected with the second mounting seat；During specific works, logical
That crosses parallel-connected induction motors rotates the rotation driving the first rotating shaft, and first connecting rod and the first rotating shaft are coaxially connected, thus by first
The rotation rotating drive second connecting rod of connecting rod, and then drive the motion of moving platform, and reduce delta also by limit spring
Jitter during connection mechanism kinematic, adds the stationarity of delta parallel institution motion, delta parallel institution and serial mechanism phase
Specific stiffness is big, and flexibly, Stability Analysis of Structures, bearing capacity is strong and fine motion precision is high, and delta parallel institution can enter in space in motion
Row three translates the motion in three rotations six-freedom degree direction altogether, and space is little, movement velocity is fast, kinematic dexterity is good, will
Delta parallel institution is applied in the present invention, on the one hand serves the effect of entirety orientation angles regulation when feeding intake charging device,
The present invention be may be under various attitude angle can omnibearing carry out feeding intake operation, feed intake the convenient and swift and model that feeds intake
Enclose wide；On the other hand improve the damping performance of the present invention by delta parallel institution, even at jolting or non-equilibrium shape
Time under state, charging device is in horizontal plateau all the time, prevent charging device feed intake operation time because of jitter or obliquity mistake
The problem that the operation that causes greatly feeding intake cannot be carried out, further increase the present invention feed intake operation time stability and safety.
As a further improvement on the present invention, described charging device includes feed intake pedestal, batch charging mechanism and material storage tube；Described
Batch charging mechanism quantity is four, and batch charging mechanism is respectively symmetrically layout along the central axis of the pedestal that feeds intake, and material storage tube is positioned at and feeds intake on pedestal
End center position；Described batch charging mechanism include feeding intake ear mount, the first rotating shaft, the support that feeds intake, the second rotating shaft, shovel material support,
Feed intake scraper bowl, actuating unit, the first compression spring and the second compression spring；Described feed intake pedestal lower end by the first rotating shaft with
The ear mount that feeds intake is connected, and the pedestal upper end that feeds intake is connected with shovel material support one end by the second rotating shaft, and the support that feeds intake is cat ladder shape knot
Structure, inside the support that feeds intake, spaced set has cross bar, shovel material support to use the rectangular box structure of hydraulic telescopic type, and feed intake scraper bowl
Being fixed on the shovel material support other end, and the cross section transverse of the scraper bowl that feeds intake is sector structure, actuating unit is positioned at below the support that feeds intake,
First compression spring is feeding intake pedestal and feeding intake between support, and the first compression spring upper end is provided with the first rotary column, first turn
Column articulated on the cross bar feeding intake support, the first compression spring lower end is provided with a connecting seat, and a connecting seat is fixed on and feeds intake
On pedestal upper surface, the second compression press spring is positioned at inside the first compression spring, and the second compression spring upper end is provided with the second rotary column,
Second rotary column is hinged on the cross bar of the support that feeds intake, and the second compression spring lower end is provided with the second connection seat, and second connects seat fixes
Feeding intake on pedestal upper surface.
As a further improvement on the present invention, described actuating unit includes power shaft, follow-up pulley, steel wire rope, actively slides
Wheel, transition axis, rolling bearing units, driven gear, driving gear, power motor, mobile motor seat and motorized rails, and driven
The quantity of pulley, steel wire rope, driving pulley, transition axis and rolling bearing units is two；Described power shaft is through feeding intake on support
End, follow-up pulley is respectively symmetrically and is fixed on power shaft two ends, and steel wire rope one end is fixed on follow-up pulley, the steel wire rope other end
Being wrapped on driving pulley, use key to be connected between transition axis one end and driving pulley, the transition axis other end is provided with driving tooth
Wheel, is fixed on by rolling bearing units in the middle part of transition axis and feeds intake on pedestal upper surface, and driving gear is fixed on the output shaft of power motor
On, and driving gear is meshed with driven gear, and power motor is arranged on motorized rails by mobile motor seat, and electronic leads
The cross section transverse of rail is I-shaped structure.
When specifically feeding intake, the stretching first passing through shovel material support drives the scraper bowl that feeds intake to move diagonally downward, when the scraper bowl that feeds intake is deep
When entering in material storage tube the chemical cleaning method drug powder or granule that store, drive, by the contractile motion of shovel material support, the scraper bowl that feeds intake
Tilt upward to move, it is achieved thereby that the function of the scraper bowl charging that feeds intake；Then by mobile motor seat on motorized rails inside
Lateral movement drives the medial movement of power motor, when driving gear coaxial mounted with power motor output shaft is nibbled mutually with driven gear
During conjunction, by the rotation rotarily driving driving gear of power motor, and driving gear is meshed with driven gear, driven gear
Coaxially fixedly mount with driving pulley, it is achieved thereby that the rotation of driving pulley, reached to shrink the effect of steel wire rope, and steel wire
Rope is connected with follow-up pulley, and follow-up pulley fixes with power shaft, and power shaft is fixed on and feeds intake on support, thus at steel wire
Under the pulling force effect of rope, the support that feeds intake rotates counterclockwise with the first rotating shaft for rotary shaft, the first compression spring and the second compression bullet
Spring is under highly compressed state；Again by mobile motor seat driving outside power motor toward movement outside on motorized rails
Side shifting, driving gear and driven gear are in released state, in the compression reaction power of the first compression spring and the second compression spring
Under effect, the support that feeds intake rotates clockwise with the first rotating shaft for rotary shaft rapidly, thus drives the scraper bowl that feeds intake to dish out laterally,
Reach the effect fed intake；Finally after chemical cleaning method drug powder or granule are launched, in the first compression spring and the second pressure
Under the extension recovery power effect of contracting spring, the support that feeds intake rotates counterclockwise with the first rotating shaft for rotary shaft, it is achieved that regains and feeds intake
The function of scraper bowl；Charging device can realize automatic charge and the function fed intake, and omnidistance intelligence degree is high, feeds simple and quick,
Rate of feeding is fast, distance is remote.
Compared with prior art, the invention have the advantages that
(1) present invention has orientation angles regulation and the function fed intake that feeds, and in sewage disposal purification process, can realize sewage
Purify the function of automatic charging, and intelligence degree is high, orientation angles is easy to adjust flexibly, the fast distance of rate of feeding is remote, solves
The problems such as the existing workload that manually feeds intake by ship is big, dangerous big and efficiency is low, are effectively protected water resource.
(2) the delta parallel institution of the present invention can carry out the motion in three translations three rotation six-freedom degree directions altogether in space,
And space is little, movement velocity is fast, kinematic dexterity is good, is applied in the present invention by delta parallel institution, on the one hand rise
To the effect of entirety orientation angles regulation when charging device is fed intake so that the present invention may be at may be used under various attitude angle
With the omnibearing operation that carries out feeding intake, feed intake convenient and swift and the scope that feeds intake is wide；On the other hand improved by delta parallel institution
The damping performance of the present invention, even at jolting or time under nonequilibrium condition, charging device is in horizontal plateau all the time,
Prevent charging device feed intake operation time the problem that cannot be carried out because of jitter or the excessive operation that causes feeding intake of obliquity, carry further
The high present invention feed intake operation time stability and safety.
(3) charging device of the present invention can realize automatic charge and the function fed intake, and omnidistance intelligence degree is high, and charging is simple
Quickly, rate of feeding is fast, distance is remote.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the perspective view of the present invention；
Fig. 2 is the perspective view of delta parallel institution of the present invention；
Fig. 3 is the perspective view of charging device of the present invention；
Fig. 4 is the perspective view of batch charging mechanism of the present invention.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below in conjunction with tool
Body illustrates, and the present invention is expanded on further.
As shown in Figures 1 to 4, a kind of large area sewage purification environment-friendly type robot manipulator, in parallel including delta
Mechanism 4 and charging device 5；Described delta parallel institution 4 is positioned at immediately below charging device 5, and delta parallel institution 4
Upper end is connected with charging device 5.
As depicted in figs. 1 and 2, described delta parallel institution 4 include fixed platform 41, moving platform 42, motor cabinet 43,
Parallel-connected induction motors the 44, first rotating shaft 45, first connecting rod 46, rotational pin 47, second connecting rod the 48, second rotating shaft 49, rotating basis
410 and limit spring 411；Described fixed platform 41 and moving platform 42 the most rounded shape structure, moving platform 42 is positioned at fixed platform
Directly over 41, the quantity of motor cabinet 43 and rotating basis 410 is three, and motor cabinet 43 is centered by the center of circle of fixed platform 41
Be fixed in equilateral triangle shape on fixed platform 41 upper surface, rotating basis 410 centered by the center of circle of moving platform 42 in positive triangle
Arrangements is on moving platform 42 lower surface, and one a pair respectively of motor cabinet 43 installation site and rotating basis 410 installation site
Should, parallel-connected induction motors 44 is fixed installation by motor cabinet 43, and parallel-connected induction motors 44 uses adjustable speed twin shaft output motor, the
One rotating shaft 45 one end is connected with parallel-connected induction motors 44 main shaft, and first rotating shaft 45 other end is connected with first connecting rod 46 upper end,
Rotational pin 47 is used to be attached between first connecting rod 46 lower end and second connecting rod 48 upper end, second connecting rod 48 lower end and second
Rotating shaft 49 one end is connected, and second rotating shaft 49 other end is arranged on rotating basis 410, and rotating basis 410 lower end is provided with
Swivel bearing, and swivel bearing fixes with moving platform 42 upper surface, rotating basis 410 upper end is provided with and the second rotating shaft 49
The double end sleeve matched, first connecting rod 46 middle inside and second connecting rod 48 middle inside are provided with the first mounting seat respectively
With the second mounting seat, limit spring 411 is between the first mounting seat and the second mounting seat, and limit spring 411 upper end and the
One mounting seat is connected, and limit spring 411 lower end is connected with the second mounting seat；During specific works, motor 44 in parallel
Rotate the rotation driving the first rotating shaft 45, and first connecting rod 46 is coaxially connected with the first rotating shaft 45, thus pass through first connecting rod
The rotation rotating drive second connecting rod 48 of 46, and then drive the motion of moving platform 42, and reduced by limit spring 411
Jitter when delta parallel institution 4 moves, adds the stationarity of delta parallel institution 4 motion, delta parallel institution 4
Big with serial mechanism phase specific stiffness, flexibly, Stability Analysis of Structures, bearing capacity is strong and fine motion precision is high, delta parallel institution 4 in motion
Three translations three can be carried out in space and rotate the motion in six-freedom degree direction altogether, and space is little, movement velocity fast, motion
Motility is good；Delta parallel institution 4 is applied in the present invention, on the one hand serves entirety side when charging device 5 is fed intake
The effect of position angular adjustment so that the present invention may be at can omnibearing carrying out feeding intake under various attitude angle operation, throws
Expect convenient and swift and the scope that feeds intake is wide；On the other hand the damping performance of the present invention is improve by delta parallel institution 4, even if
Being in and jolt or time under nonequilibrium condition, charging device 5 is in horizontal plateau all the time, prevents charging device 5 from feeding intake work
The problem that cannot be carried out because of jitter or the excessive operation that causes feeding intake of obliquity during industry, further increases the present invention and feeds intake operation
Time stability and safety.
As shown in Figure 3 and Figure 4, described charging device 5 includes feed intake pedestal 51, batch charging mechanism 52 and material storage tube 53；Institute
Batch charging mechanism 52 quantity stated is four, and batch charging mechanism 52 is respectively symmetrically layout, material storage tube along the central axis of the pedestal 51 that feeds intake
53 are positioned at the pedestal 51 upper end center position that feeds intake；Described batch charging mechanism 52 include feeding intake ear mount the 521, first rotating shaft 522,
Feed intake support the 523, second rotating shaft 524, shovel material support 525, the scraper bowl 526 that feeds intake, actuating unit the 527, first compression spring
528 and second compression spring 529；Described support 523 lower end that feeds intake is connected with the ear mount 521 that feeds intake by the first rotating shaft 522,
Feed intake support 523 upper end by the second rotating shaft 524 with shovel material support 525 one end be connected, the support 523 that feeds intake is tied in cat ladder shape
Structure, inside the support 523 that feeds intake, spaced set has cross bar, shovel material support 525 to use the rectangular box structure of hydraulic telescopic type,
The scraper bowl 526 that feeds intake is fixed on shovel material support 525 other end, and the cross section transverse of the scraper bowl 526 that feeds intake is sector structure, engine
Structure 527 is positioned at below the support 523 that feeds intake, and the first compression spring 528 is feeding intake pedestal 521 and feed intake between support 523,
And first compression spring 528 upper end be provided with the first rotary column, the first rotary column is hinged on the cross bar of the support 523 that feeds intake, first pressure
Contracting spring 528 lower end is provided with a connecting seat, and a connecting seat is fixed on and feeds intake on pedestal 51 upper surface, the second compression press spring
529 are positioned at inside the first compression spring 528, and the second compression spring 529 upper end is provided with the second rotary column, and the second rotary column is hinged
On the cross bar feeding intake support 523, the second compression spring 529 lower end is provided with the second connection seat, and second connects seat is fixed on throwing
On material pedestal 51 upper surface.
As shown in Figure 3 and Figure 4, described actuating unit 527 includes power shaft 5271, follow-up pulley 5272, steel wire rope
5273, driving pulley 5274, transition axis 5275, rolling bearing units 5276, driven gear 5277, driving gear 5278, power
Motor 5279, mobile motor seat 527a and motorized rails 527b, and follow-up pulley 5272, steel wire rope 5273, driving pulley
5274, the quantity of transition axis 5275 and rolling bearing units 5276 is two；Described power shaft 5271 is through feeding intake on support 523
End, follow-up pulley 5272 is respectively symmetrically and is fixed on power shaft 5271 two ends, and steel wire rope 5273 one end is fixed on follow-up pulley
On 5272, steel wire rope 5273 other end is wrapped on driving pulley 5274, transition axis 5275 one end and driving pulley 5274 it
Between use key be connected, transition axis 5275 other end is provided with driving gear 5278, passes through rolling bearing units in the middle part of transition axis 5275
5276 are fixed on and feed intake on pedestal 51 upper surface, and driving gear 5278 is fixed on the output shaft of power motor 5279, and main
Moving gear 5278 is meshed with driven gear 5277, and power motor 5279 is arranged on motorized rails by mobile motor seat 527a
On 527b, and the cross section transverse of motorized rails 527b is I-shaped structure.
As shown in Figure 3 and Figure 4, when specifically feeding intake, the stretching first passing through shovel material support 525 drives the scraper bowl 526 that feeds intake
Move diagonally downward, when the chemical cleaning method drug powder stored in the scraper bowl 526 that feeds intake is deep into material storage tube 53 or granule, logical
The contractile motion crossing shovel material support 525 drives the scraper bowl 526 that feeds intake to tilt upward to move, it is achieved thereby that the scraper bowl 526 that feeds intake feeds
Function；Then by mobile motor seat 527a on motorized rails 527b toward medial motion drive power motor 5279 in
Side shifting, when being meshed with driven gear 5277 with the power motor 5279 coaxial mounted driving gear of output shaft 5278, logical
Cross the rotation rotarily driving driving gear 5278 of power motor 5279, and driving gear 5278 is nibbled with driven gear 5277 phase
Closing, driven gear 5277 coaxially fixedly mounts with driving pulley 5274, it is achieved thereby that the rotation of driving pulley 5274, reaches
Shrinking the effect of steel wire rope 5273, and steel wire rope 5273 is connected with follow-up pulley 5272, follow-up pulley 5272 turns with power
Axle 5271 fixes, and power shaft 5271 is fixed on and feeds intake on support 523, thus under the pulling force effect of steel wire rope 5273,
The support 523 that feeds intake rotates counterclockwise with the first rotating shaft 522 for rotary shaft, the first compression spring 528 and the second compression spring 529
It is under highly compressed state；Pass through the mobile motor seat 527a past movement outside on motorized rails 527b again and drive power
The outer side shifting of motor 5279, driving gear 5278 and driven gear 5277 are in released state, in the first compression spring 528
With under the compression reaction power effect of the second compression spring 529, the support 523 that feeds intake does suitable with the first rotating shaft 522 rapidly for rotary shaft
Hour hands rotate, thus drive the scraper bowl 526 that feeds intake to dish out laterally, have reached the effect fed intake；Finally when chemical cleaning method medicine powder
After end or granule are launched, under the extension recovery power effect of the first compression spring 528 and the second compression spring 529, feed intake
Support 523 rotates counterclockwise with the first rotating shaft 522 for rotary shaft, it is achieved that regain the function of the scraper bowl 526 that feeds intake；Feed intake dress
Put 5 and can realize automatic charge and the function fed intake, and omnidistance intelligence degree is high, feeds simple and quick, rate of feeding is fast, away from
Away from from.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.Skilled person will appreciate that of the industry,
The present invention is not restricted to the described embodiments, the principle that the present invention is simply described of the description in above-described embodiment and description,
Without departing from the spirit and scope, the present invention also has various changes and modifications, and these changes and improvements both fall within
In scope of the claimed invention.Claimed scope is defined by appending claims and equivalent thereof.
Claims (2)
1. a large area sewage purification environment-friendly type robot manipulator, it is characterised in that: include delta parallel institution
And charging device；Described delta parallel institution is positioned at immediately below charging device, and delta parallel institution upper end and the dress that feeds intake
Put and be connected；Wherein:
Described delta parallel institution include fixed platform, moving platform, motor cabinet, parallel-connected induction motors, the first rotating shaft, first connecting rod,
Rotational pin, second connecting rod, the second rotating shaft, rotating basis and limit spring；Described fixed platform and moving platform the most rounded shape knot
Structure, moving platform is positioned at directly over fixed platform, and the quantity of motor cabinet and rotating basis is three, and motor cabinet with the center of circle of fixed platform is
Center is that equilateral triangle shape is fixed on fixed platform upper surface, rotating basis centered by the center of circle of moving platform in equilateral triangle shape cloth
Put on moving platform lower surface, and motor cabinet installation site and rotating basis installation site one_to_one corresponding respectively, parallel-connected induction motors passes through
Motor cabinet is fixed installation, and parallel-connected induction motors uses adjustable speed twin shaft output motor, first rotating shaft one end and parallel-connected induction motors main shaft
Being connected, the first rotating shaft other end is connected with first connecting rod upper end, uses and turn between first connecting rod lower end and second connecting rod upper end
Untie-sell is attached, and second connecting rod lower end is connected with second rotating shaft one end, and the second rotating shaft other end is arranged on rotating basis,
Rotating basis lower end is provided with swivel bearing, and swivel bearing fixes with moving platform upper surface, rotating basis upper end be provided with
The double end sleeve that second rotating shaft matches, first connecting rod middle inside and second connecting rod middle inside are provided with the first installation respectively
Seat and the second mounting seat, limit spring is between the first mounting seat and the second mounting seat, and limit spring upper end is installed with first
Seat is connected, and limit spring lower end is connected with the second mounting seat；
Described charging device includes feed intake pedestal, batch charging mechanism and material storage tube；Described batch charging mechanism quantity is four, batch charger
Structure is respectively symmetrically layout along the central axis of the pedestal that feeds intake, and material storage tube is positioned at the pedestal upper end center position that feeds intake；Described feeds intake
Mechanism include feeding intake ear mount, the first rotating shaft, the support that feeds intake, the second rotating shaft, shovel material support, the scraper bowl that feeds intake, actuating unit, the
One compression spring and the second compression spring；The described pedestal lower end that feeds intake is connected with the ear mount that feeds intake by the first rotating shaft, feeds intake and props up
Frame upper end is connected with shovel material support one end by the second rotating shaft, and the support that feeds intake is in climbing ladder-shaper structure, inside the support that feeds intake equidistantly
Being provided with cross bar, shovel material support uses the rectangular box structure of hydraulic telescopic type, and the scraper bowl that feeds intake is fixed on the shovel material support other end,
And the cross section transverse of the scraper bowl that feeds intake is sector structure, actuating unit is positioned at below the support that feeds intake, and the first compression spring is positioned at material-feeding platform
Seat and feeding intake between support, and the first compression spring upper end is provided with the first rotary column, and the first rotary column is hinged on the cross bar of the support that feeds intake
On, the first compression spring lower end is provided with a connecting seat, and a connecting seat is fixed on and feeds intake on pedestal upper surface, the second compression
Stage clip is positioned at inside the first compression spring, and the second compression spring upper end is provided with the second rotary column, and the second rotary column is hinged on to feed intake and props up
On the cross bar of frame, the second compression spring lower end is provided with the second connection seat, and the second connection seat is fixed on and feeds intake on pedestal upper surface.
A kind of large area the most according to claim 1 sewage purification environment-friendly type robot manipulator, it is characterised in that:
Described actuating unit includes power shaft, follow-up pulley, steel wire rope, driving pulley, transition axis, rolling bearing units, driven tooth
Wheel, driving gear, power motor, mobile motor seat and motorized rails, and follow-up pulley, steel wire rope, driving pulley, transition
The quantity of axle and rolling bearing units is two；Described power shaft through feeding intake pedestal upper end, follow-up pulley be respectively symmetrically be fixed on dynamic
Power rotating shaft two ends, steel wire rope one end is fixed on follow-up pulley, and the steel wire rope other end is wrapped on driving pulley, transition axis one end
Being connected with using key between driving pulley, the transition axis other end is provided with driving gear, solid by rolling bearing units in the middle part of transition axis
Being scheduled on and feed intake on pedestal upper surface, driving gear is fixed on the output shaft of power motor, and driving gear is nibbled mutually with driven gear
Closing, power motor is arranged on motorized rails by mobile motor seat, and the cross section transverse of motorized rails is I-shaped structure.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810020809.9A CN108127645B (en) | 2016-06-23 | 2016-06-23 | Manipulator and working method thereof |
| CN201610471621.7A CN106002946B (en) | 2016-06-23 | 2016-06-23 | A kind of large area sewage purification environmental protection humanoid robot is used as industry manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610471621.7A CN106002946B (en) | 2016-06-23 | 2016-06-23 | A kind of large area sewage purification environmental protection humanoid robot is used as industry manipulator |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810020809.9A Division CN108127645B (en) | 2016-06-23 | 2016-06-23 | Manipulator and working method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106002946A true CN106002946A (en) | 2016-10-12 |
| CN106002946B CN106002946B (en) | 2017-12-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810020809.9A Active CN108127645B (en) | 2016-06-23 | 2016-06-23 | Manipulator and working method thereof |
| CN201610471621.7A Active CN106002946B (en) | 2016-06-23 | 2016-06-23 | A kind of large area sewage purification environmental protection humanoid robot is used as industry manipulator |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201810020809.9A Active CN108127645B (en) | 2016-06-23 | 2016-06-23 | Manipulator and working method thereof |
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| Country | Link |
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| CN (2) | CN108127645B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107399201A (en) * | 2017-07-25 | 2017-11-28 | 安徽省唐骏重工机械有限责任公司 | One kind adapts to adjustment type agricultural machinery pulley erecting device |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113339501A (en) * | 2021-07-06 | 2021-09-03 | 吉林工程技术师范学院 | Gear shifting device of automobile transmission |
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| CN102257980B (en) * | 2010-05-27 | 2013-01-09 | 吴为国 | Split 360-degree automatic dried diet feeder for fishpond |
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| US20140144470A1 (en) * | 2010-05-24 | 2014-05-29 | F.B. Technologies Pty Ltd | System for manipulating objects |
| CN102452074A (en) * | 2010-10-27 | 2012-05-16 | 鸿富锦精密工业（深圳）有限公司 | Parallel robot |
| US20150273695A1 (en) * | 2012-12-22 | 2015-10-01 | Maytronics Ltd. | Autonomous pool cleaning robot |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108127645B (en) | 2020-07-24 |
| CN108127645A (en) | 2018-06-08 |
| CN106002946B (en) | 2017-12-22 |
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Effective date of registration: 20171128 Address after: 150000 Heilongjiang Province, Harbin City Economic Development Zone haping Road District Dalian road and Xingkai road junction Applicant after: Hagongda robot group (Harbin) Asset Management Co., Ltd. Address before: Room 315, building No. 1, No. 80 science and technology entrepreneurship Park, Tianzhu mountain road, Anqing Development Zone, Anhui Province Applicant before: Anhui Saobao Intelligent Technology Co., Ltd. |
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