CN106002946B - A kind of large area sewage purification environmental protection humanoid robot is used as industry manipulator - Google Patents
A kind of large area sewage purification environmental protection humanoid robot is used as industry manipulator Download PDFInfo
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- CN106002946B CN106002946B CN201610471621.7A CN201610471621A CN106002946B CN 106002946 B CN106002946 B CN 106002946B CN 201610471621 A CN201610471621 A CN 201610471621A CN 106002946 B CN106002946 B CN 106002946B
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- feeds intake
- rotating shaft
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- intake
- support
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- 239000010865 sewage Substances 0.000 title claims abstract description 21
- 238000000746 purification Methods 0.000 title claims abstract description 14
- 230000007613 environmental effect Effects 0.000 title claims abstract description 10
- 235000021050 feed intake Nutrition 0.000 claims abstract description 40
- 230000006835 compression Effects 0.000 claims description 40
- 238000007906 compression Methods 0.000 claims description 40
- 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 28
- 239000000463 material Substances 0.000 claims description 22
- 229910000831 Steel Inorganic materials 0.000 claims description 18
- 239000010959 steel Substances 0.000 claims description 18
- 230000007246 mechanism Effects 0.000 claims description 15
- 230000007704 transition Effects 0.000 claims description 15
- 230000006698 induction Effects 0.000 claims description 12
- 238000003860 storage Methods 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 9
- 238000005096 rolling process Methods 0.000 claims description 9
- 239000004744 fabric Substances 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 16
- 230000033228 biological regulation Effects 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 25
- 230000000694 effects Effects 0.000 description 13
- 239000000126 substance Substances 0.000 description 11
- 238000000034 method Methods 0.000 description 8
- 238000004140 cleaning Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 239000003814 drug Substances 0.000 description 4
- 229940079593 drug Drugs 0.000 description 4
- 230000006872 improvement Effects 0.000 description 4
- 239000002245 particle Substances 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
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000013016 damping Methods 0.000 description 3
- 238000013519 translation Methods 0.000 description 3
- 230000014616 translation Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000005416 organic matter Substances 0.000 description 2
- 239000001301 oxygen Substances 0.000 description 2
- 229910052760 oxygen Inorganic materials 0.000 description 2
- 239000002574 poison Substances 0.000 description 2
- 231100000614 poison Toxicity 0.000 description 2
- 238000011084 recovery Methods 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
- 150000001875 compounds Chemical class 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 230000008602 contraction Effects 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
- 230000005611 electricity Effects 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
- 229910052753 mercury Inorganic materials 0.000 description 1
- 244000005700 microbiome Species 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000007800 oxidant agent Substances 0.000 description 1
- 230000001590 oxidative effect Effects 0.000 description 1
- 239000002351 wastewater Substances 0.000 description 1
- 238000003911 water pollution 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
- B25J9/003—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
Abstract
The present invention relates to a kind of large area sewage purification environmental protection humanoid robot to be used as industry manipulator, including delta parallel institutions and charging device；Described delta parallel institutions are located at immediately below charging device, and delta parallel institutions upper end is connected with charging device.The function that present invention tool orientation angles regulation and charging feed intake; in sewage disposal purification process; the function of sewage purification automatic charging can be achieved; and intelligence degree is high, orientation angles are easy to adjust flexibly, distance is remote soon for rate of feeding; solve the problems such as the existing artificial workload that feeds intake by ship is big, dangerous big and efficiency is low, be effectively protected water resource.
Description
Technical field
The present invention relates to technical field of sewage, specifically a kind of large area sewage purification environmental protection humanoid robot is used
Manipulator.
Background technology
Water pollution is to cause the use value of water to reduce or lose by harmful chemical, pollutes the water of environment, in sewage
The organic poison such as compound and benzene, dichloroethanes, ethylene glycol such as the acid, alkali, oxidant and the copper that contain, cadmium, mercury, arsenic, can poison
Dead aquatile, influence drinking water source, scenic spot landscape；The oxygen in water is consumed when organic matter in sewage is decomposed by the microorganisms,
The life of aquatile is influenceed, after oxygen in water exhausts, organic matter carries out anaerobic digestion, and it is unpleasant to produce hydrogen sulfide, mercaptan etc.
Gas, water quality is set further to deteriorate.China is that shortage of water resources, a water disaster are frequently national, and gross amount of water resources occupies the world
6th, occupancy volume per person only has 2500 cubic metres, about the world per capita water 1/4, the 110th is arranged 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
Water shortage and accident caused by dye constantly occur, and not only make plant downtime, the agriculture underproduction or even have no harvest, and cause bad
Social influence and larger economic loss, the sustainable development of society is seriously threatened, has threatened the existence of the mankind.
The method for waste water control has Physical, chemical method and bioanalysis at present, and wherein chemical method improvement sewage is exactly
Chemicals is launched into sewage, sewage is purified using chemical reaction or physics chemical action, at present for reservoir, lake, river
The mode of the chemical method purification sewage on the ground such as stream, pond is all that chemicals is manually launched into sewage by ship, is so not only accounted for
With substantial amounts of labour, dispensing efficiency is low, and has certain danger.In consideration of it, the invention provides a kind of big face
Contamination Water warfare environmental protection humanoid robot is used as industry manipulator.
The content of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of large area sewage purification environmental protection humanoid robot to be used as
Industry manipulator.
The present invention to be solved its technical problem and use following technical scheme to realize.
A kind of large area sewage purification environmental protection humanoid robot is used as industry manipulator, including delta parallel institutions and the dress that feeds intake
Put；Described delta parallel institutions are located at immediately below charging device, and delta parallel institutions upper end is connected with charging device.
As a further improvement on the present invention, described delta parallel institutions include fixed platform, moving platform, motor cabinet, simultaneously
Join motor, first rotating shaft, first connecting rod, rotational pin, second connecting rod, the second rotating shaft, rotating basis and limit spring；Described determines
Platform and moving platform structure in rounded shape, moving platform are located 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 centered on the center of circle of fixed platform in positive triangle shape, and rotating basis is with dynamic flat
It is arranged in centered on the center of circle of platform in positive triangle shape on moving platform lower surface, and motor cabinet installation site and rotating basis installation
Position is corresponded respectively, and installation is fixed by motor cabinet in parallel-connected induction motorses, and parallel-connected induction motorses are exported using adjustable speed twin shaft
Motor, first rotating shaft one end are connected with parallel-connected induction motorses main shaft, and the first rotating shaft other end is connected with first connecting rod upper end, and first
It is attached between connecting rod lower end and second connecting rod upper end using rotational pin, second connecting rod lower end is connected with second rotating shaft one end
Connect, the second rotating shaft other end is arranged on rotating basis, and rotating basis lower end is provided with swivel bearing, and swivel bearing is put down with dynamic
Platform upper surface is mutually fixed, and rotating basis upper end is provided with the double end sleeve being engaged with the second rotating shaft, first connecting rod middle inside
Respectively be provided with the first mounting seat and the second mounting seat with second connecting rod middle inside, limit spring be located at the first mounting seat and
Between second mounting seat, and limit spring upper end is connected with the first mounting seat, and limit spring lower end is connected with the second mounting seat
Connect；During specific works, the rotation of first rotating shaft, and first connecting rod and the coaxial phase of first rotating shaft are driven by the rotation of parallel-connected induction motorses
Connection, so as to drive the rotation of second connecting rod by the rotation of first connecting rod, and then the motion of moving platform is driven, and by spacing
Jitter when spring reduces the motion of delta parallel institutions, adds the stationarity of delta parallel institutions motion, and delta is in parallel
Mechanism rigidity compared with serial mechanism is big, and motion is flexible, Stability Analysis of Structures, and bearing capacity is strong and fine motion precision is high, delta parallel machines
Structure can carry out the motion that three translations three rotate six-freedom degree direction altogether in space, and space is small, movement velocity is fast, fortune
Dynamic flexibility is good, and delta parallel institutions are applied in the present invention, on the one hand serve entirety orientation when being fed intake to charging device
The effect of angular adjustment so that the present invention may be under various attitude angles the operation that feeds intake that carries out that can be comprehensive, and throw
Expect that the convenient and swift and scope that feeds intake is wide；On the other hand the damping performance of the present invention is improved by delta parallel institutions, even if place
In jolt or nonequilibrium condition under when, charging device is in horizontal plateau all the time, prevent charging device feed intake operation when
The problem of can not being carried out because of jitter or the excessive operation that causes to feed intake of obliquity, further increase the present invention feed intake operation when
Stability and security.
As a further improvement on the present invention, described charging device includes feed intake pedestal, batch charging mechanism and material storage tube；Institute
The batch charging mechanism quantity stated is four, and central axis of the batch charging mechanism along the pedestal that feeds intake respectively symmetrically is arranged, material storage tube, which is located at, to feed intake
Pedestal upper end center opening position；Described batch charging mechanism includes feed intake ear mount, first rotating shaft, the support that feeds intake, the second rotating shaft, shovel material
Support, the scraper bowl that feeds intake, actuating unit, the first compression spring and the second compression spring；The described pedestal lower end that feeds intake is by first
Rotating shaft is connected with the ear mount that feeds intake, and the pedestal upper end that feeds intake is connected by the second rotating shaft with shovel material support one end, and the support that feeds intake is in
Ladder-shaper structure is climbed, spaced set has cross bar on the inside of the support that feeds intake, and shovel material support uses the rectangular box structure of hydraulic telescopic type,
The scraper bowl that feeds intake is fixed on the shovel material support other end, and the cross section transverse for the scraper bowl that feeds intake is in sector structure, and actuating unit, which is located at, to feed intake
Below support, the first compression spring, which is located at, to feed intake between pedestal and the support that feeds intake, and the first compression spring upper end is provided with first
Rotary column, the first rotary column are hinged on the cross bar for the support that feeds intake, and the first compression spring lower end is provided with the first connecting seat, the first connection
Seat, which is fixed on, to feed intake on pedestal upper surface, and the second compression press spring is located on the inside of the first compression spring, and the second compression spring upper end
The second rotary column is provided with, the second rotary column is hinged on the cross bar for the support that feeds intake, and the second compression spring lower end is provided with the second connection
Seat, the second connecting seat, which is fixed on, to feed 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, master
Movable pulley, transition axis, rolling bearing units, driven gear, driving gear, power motor, mobile motor seat and motorized rails, and it is driven
Pulley, steel wire rope, driving pulley, the quantity of transition axis and rolling bearing units are two；Described power shaft is passed through and fed intake on support
End, follow-up pulley are respectively symmetrically fixed on power shaft both ends, and steel wire rope one end is fixed on follow-up pulley, the steel wire rope other end
It is wrapped on driving pulley, is connected between transition axis one end and driving pulley using key, the transition axis other end is provided with actively
Gear, transition axis middle part is fixed on by rolling bearing units to feed intake on pedestal upper surface, and driving gear is fixed on the defeated of power motor
On shaft, and driving gear is meshed with driven gear, and power motor is arranged on motorized rails by mobile motor seat, and electricity
The cross section transverse of dynamic guide rail is in I-shaped structure, and motorized rails, which are fixed on, to feed intake on pedestal upper surface.
It is specific to expect that the stretching routine of support drives the scraper bowl that feeds intake to move diagonally downward by shoveling first when feeding intake, when feeding intake
When scraper bowl is deep into the chemical cleaning method drug powder or particle of storage in material storage tube, expect that the contractile motion of support drives by shoveling
The scraper bowl that feeds intake tilts upward to move, it is achieved thereby that the function for the scraper bowl charging that feeds intake；Then led by mobile motor seat electronic
Past medial motion on rail drives the medial movement of power motor, when with the coaxial mounted driving gear of power motor output shaft with
When driven gear is meshed, the rotation of driving gear, and driving gear and driven gear phase are driven by the rotation of power motor
Engagement, driven gear is coaxially fixedly mounted with driving pulley, it is achieved thereby that the rotation of driving pulley, has reached contraction steel wire rope
Effect, and steel wire rope is connected with follow-up pulley, and follow-up pulley is mutually fixed with power shaft, and power shaft is fixed on the support that feeds intake
On, so as to which under the pulling force effect of steel wire rope, the support that feeds intake rotates counterclockwise by rotary shaft of first rotating shaft, the first compression bullet
Spring and the second compression spring are under highly compressed state；Past movement outside by mobile motor seat on motorized rails again
The outside movement of power motor is driven, driving gear is in released state with driven gear, pressed in the first compression spring and second
Under the compression reaction power effect of contracting spring, the support that feeds intake rotates clockwise rapidly by rotary shaft of first rotating shaft, so as to drive
The scraper bowl that feeds intake is dished out laterally, has reached the effect to feed intake；Finally after chemical cleaning method drug powder or particle are launched,
Under the effect of the extension recovery power of first compression spring and the second compression spring, the support that feeds intake does the inverse time by rotary shaft of first rotating shaft
Pin rotates, and realizes the function of withdrawing the scraper bowl that feeds intake；Charging device can realize automatic charge and the function of feeding intake, and whole intelligence
Change degree is high, and charging is simple and quick, and rate of feeding is fast, distance is remote.
Compared with prior art, the present invention has advantages below：
(1) function that the regulation of present invention tool orientation angles and charging feed intake, in sewage disposal purification process, can be achieved
The function of sewage purification automatic charging, and intelligence degree is high, orientation angles are easy to adjust flexibly, distance is remote soon for rate of feeding,
Solve the problems such as the existing artificial workload that feeds intake by ship is big, dangerous big and efficiency is low, be effectively protected water resource.
(2) delta parallel institutions of the invention can carry out three translations three in space and rotate common six-freedom degree direction
Motion, and space is small, movement velocity is fast, kinematic dexterity is good, and delta parallel institutions are applied in the present invention, a side
Face serves the effect that entirety orientation angles are adjusted when being fed intake to charging device so that the present invention may be at various attitude angles
Down can be comprehensive carry out the operation that feeds intake, the convenient and swift and scope that feeds intake that feeds intake is wide；On the other hand delta parallel machines are passed through
Structure improve the present invention damping performance, even at jolt or nonequilibrium condition under when, charging device all the time in level
Plateau, prevent charging device feed intake operation when because what jitter or the excessive operation that causes to feed intake of obliquity can not be carried out asks
Topic, further increase the present invention feed intake operation when stability and security.
(3) charging device of the invention can realize automatic charge and the function of feeding intake, and whole intelligence degree is high, charging
Simple and quick, rate of feeding is fast, distance is remote.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is the dimensional structure diagram of delta parallel institutions of the present invention；
Fig. 3 is the dimensional structure diagram of charging device of the present invention；
Fig. 4 is the dimensional structure diagram of batch charging mechanism of the present invention.
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is expanded on further.
As shown in Figures 1 to 4, a kind of large area sewage purification environmental protection humanoid robot is used as industry manipulator, including delta is simultaneously
Online structure 4 and charging device 5；Described delta parallel institutions 4 are located at immediately below charging device 5, and on delta parallel institutions 4
End is connected with charging device 5.
As depicted in figs. 1 and 2, described delta parallel institutions 4 include fixed platform 41, moving platform 42, motor cabinet 43, simultaneously
Join motor 44, first rotating shaft 45, first connecting rod 46, rotational pin 47, second connecting rod 48, the second rotating shaft 49, rotating basis 410 and limit
Position spring 411；Described fixed platform 41 and moving platform 42 structure in rounded shape, moving platform 42 are located at directly over fixed platform 41,
The quantity of motor cabinet 43 and rotating basis 410 is three, and motor cabinet 43 is in positive triangle shape centered on the center of circle of fixed platform 41
It is fixed on the upper surface of fixed platform 41, rotating basis 410 is arranged in dynamic centered on the center of circle of moving platform 42 in positive triangle shape
On the lower surface of platform 42, and the installation site of motor cabinet 43 and the installation site of rotating basis 410 correspond respectively, parallel-connected induction motorses 44
Installation is fixed by motor cabinet 43, and parallel-connected induction motorses 44 use adjustable speed twin shaft output motor, the one end of first rotating shaft 45 with
The main shaft of parallel-connected induction motorses 44 is connected, and the other end of first rotating shaft 45 is connected with the upper end of first connecting rod 46, the lower end of first connecting rod 46 with
It is attached between the upper end of second connecting rod 48 using rotational pin 47, the lower end of second connecting rod 48 is connected with the one end of the second rotating shaft 49,
The other end of second rotating shaft 49 is arranged on rotating basis 410, and the lower end of rotating basis 410 is provided with swivel bearing, and swivel bearing
Mutually to be fixed with the upper surface of moving platform 42, the upper end of rotating basis 410 is provided with the double end sleeve being engaged with the second rotating shaft 49, and first
The middle inside of connecting rod 46 and the middle inside of second connecting rod 48 are respectively provided with the first mounting seat and the second mounting seat, limit spring
411 between the first mounting seat and the second mounting seat, and the upper end of limit spring 411 is connected with the first mounting seat, spacing bullet
The lower end of spring 411 is connected with the second mounting seat；During specific works, the rotation of first rotating shaft 45 is driven by the rotation of parallel-connected induction motorses 44
Turn, and first connecting rod 46 is coaxially connected with first rotating shaft 45, so as to drive second connecting rod 48 by the rotation of first connecting rod 46
Rotation, and then drive moving platform 42 motion, and by limit spring 411 reduce delta parallel institutions 4 move when shake
Property, the stationarity of the motion of delta parallel institutions 4 is added, the rigidity compared with serial mechanism of delta parallel institutions 4 is big, motion spirit
Living, Stability Analysis of Structures, bearing capacity is strong and fine motion precision is high, and delta parallel institutions 4 can carry out three translations three in space and rotate altogether
The motion in six-freedom degree direction, and space is small, movement velocity is fast, kinematic dexterity is good；Should by delta parallel institutions 4
Use in the present invention, on the one hand serve the effect that entirety orientation angles are adjusted when being fed intake to charging device 5 so that the present invention can
With can be comprehensive under various attitude angles carry out the operation that feeds intake, the convenient and swift and scope that feeds intake that feeds intake is wide；It is another
Aspect by delta parallel institutions 4 improve the present invention damping performance, even at jolt or nonequilibrium condition under when,
Charging device 5 is in horizontal plateau all the time, prevent charging device 5 feed intake operation when because of jitter or obliquity is excessive leads
Cause feeds intake operation the problem of can not carrying out, further increase the present invention feed intake operation when stability and security.
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
The quantity of batch charging mechanism 52 stated is four, and central axis of the batch charging mechanism 52 along the pedestal 51 that feeds intake respectively symmetrically is arranged, material storage tube 53
Positioned at the upper end center opening position of pedestal 51 that feeds intake；Described batch charging mechanism 52 include feed intake ear mount 521, first rotating shaft 522, feed intake
Support 523, the second rotating shaft 524, shovel material support 525, the scraper bowl 526 that feeds intake, actuating unit 527, the first compression spring 528 and second
Compression spring 529；The described lower end of support 523 that feeds intake is connected by first rotating shaft 522 with the ear mount 521 that feeds intake, and feed intake support
523 upper ends are connected by the second rotating shaft 524 with shovel material support 525 one end, and the support 523 that feeds intake is in ladder-shaper structure is climbed, and feed intake branch
The inner side spaced set of frame 523 has cross bar, and shovel material support 525 is using the rectangular box structure of hydraulic telescopic type, and feed intake scraper bowl 526
The shovel material other end of support 525 is fixed on, and the cross section transverse for the scraper bowl 526 that feeds intake is in sector structure, actuating unit 527, which is located at, to feed intake
The lower section of support 523, the first compression spring 528, which is located at, to feed intake between pedestal 521 and the support 523 that feeds intake, and the first compression spring 528
Upper end is provided with the first rotary column, and the first rotary column is hinged on the cross bar for the support 523 that feeds intake, and the lower end of the first compression spring 528 is set
There is the first connecting seat, the first connecting seat, which is fixed on, to feed intake on the upper surface of pedestal 51, and the second compression press spring 529 is positioned at the first compression bullet
The inner side of spring 528, and the upper end of the second compression spring 529 is provided with the second rotary column, the second rotary column is hinged on the cross bar for the support 523 that feeds intake
On, the lower end of the second compression spring 529 is provided with the second connecting seat, and the second connecting seat, which is fixed on, to feed intake on the upper surface of pedestal 51.
As shown in Figure 3 and Figure 4, described actuating unit 527 includes power shaft 5271, follow-up pulley 5272, steel wire rope
5273rd, driving pulley 5274, transition axis 5275, rolling bearing units 5276, driven gear 5277, driving gear 5278, power motor
5279th, mobile motor seat 527a and motorized rails 527b, and follow-up pulley 5272, steel wire rope 5273, driving pulley 5274, transition
The quantity of axle 5275 and rolling bearing units 5276 is two；Described power shaft 5271 passes through the upper end of support 523 that feeds intake, follow-up pulley
5272 are respectively symmetrically fixed on the both ends of power shaft 5271, and the one end of steel wire rope 5273 is fixed on follow-up pulley 5272, steel wire rope
5273 other ends are wrapped on driving pulley 5274, are connected between the one end of transition axis 5275 and driving pulley 5274 using key,
The other end of transition axis 5275 is provided with driving gear 5278, and the middle part of transition axis 5275 is fixed on material-feeding platform by rolling bearing units 5276
On 51 upper surfaces of seat, driving gear 5278 is fixed on the output shaft of power motor 5279, and driving gear 5278 and driven tooth
Wheel 5277 is meshed, and power motor 5279 is arranged on motorized rails 527b by mobile motor seat 527a, and motorized rails
527b cross section transverse is in I-shaped structure, and motorized rails 527b, which is fixed on, to feed intake on the upper surface of pedestal 51.
As shown in Figure 3 and Figure 4, when specifically feeding intake, expect that the stretching routine of support 525 drives the scraper bowl that feeds intake by shoveling first
526 move diagonally downward, when the scraper bowl 526 that feeds intake is deep into the chemical cleaning method drug powder or particle of storage in material storage tube 53
When, expect that the contractile motion of support 525 drives the scraper bowl 526 that feeds intake to tilt upward to move by shoveling, it is achieved thereby that the scraper bowl 526 that feeds intake
The function of charging；Then power motor 5279 is driven by past medial motions of the mobile motor seat 527a on motorized rails 527b
Medial movement, be meshed when with the coaxial mounted driving gear 5278 of the output shaft of power motor 5279 with driven gear 5277
When, the rotation of driving gear 5278, and driving gear 5278 and driven gear 5277 are driven by the rotation of power motor 5279
It is meshed, driven gear 5277 is coaxially fixedly mounted with driving pulley 5274, it is achieved thereby that the rotation of driving pulley 5274, reaches
The effect for shrinking steel wire rope 5273 has been arrived, and steel wire rope 5273 is connected with follow-up pulley 5272, follow-up pulley 5272 turns with power
The phase of axle 5271 is fixed, and power shaft 5271, which is fixed on, to feed intake on support 523, so as under the pulling force effect of steel wire rope 5273, throw
Material support 523 is that rotary shaft rotates counterclockwise with first rotating shaft 522, the first compression spring 528 and the quilt of the second compression spring 529
Under highly compressed state；Power electric is driven by past movement outsides of the mobile motor seat 527a on motorized rails 527b again
The outside movement of machine 5279, driving gear 5278 and driven gear 5277 are in released state, in the first compression spring 528 and the
Under the compression reaction power effect of two compression springs 529, it is rapidly that rotary shaft is done clockwise with first rotating shaft 522 to feed intake support 523
Rotate, so as to drive the scraper bowl 526 that feeds intake to dish out laterally, reached the effect to feed intake；Finally when chemical cleaning method drug powder or
After person's particle is launched, under the effect of the extension recovery power of the first compression spring 528 and the second compression spring 529, feed intake support
523 are rotated counterclockwise with first rotating shaft 522 for rotary shaft, realize the function of withdrawing the scraper bowl 526 that feeds intake；Charging device 5 can
Automatic charge and the function of feeding intake are realized, and whole intelligence degree is high, charging is simple and quick, and rate of feeding is fast, distance is remote.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the description in above-described embodiment and specification simply illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, and these change and changed
Enter all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
Define.
Claims (2)
1. a kind of large area sewage purification environmental protection humanoid robot is used as industry manipulator, it is characterised in that：Including delta parallel institutions
And charging device；Described delta parallel institutions are located at immediately below charging device, and delta parallel institutions upper end and the dress that feeds intake
Put and be connected；Wherein：
Described delta parallel institutions include fixed platform, moving platform, motor cabinet, parallel-connected induction motorses, first rotating shaft, first connecting rod, turn
Dynamic pin, second connecting rod, the second rotating shaft, rotating basis and limit spring；Described fixed platform and moving platform structure in rounded shape,
Moving platform is located at directly over fixed platform, and the quantity of motor cabinet and rotating basis is three, and motor cabinet is using the center of circle of fixed platform in
The heart is fixed on fixed platform upper surface in positive triangle shape, and rotating basis is in positive triangle shape cloth centered on the center of circle of moving platform
Put on moving platform lower surface, and motor cabinet installation site and rotating basis installation site correspond respectively, parallel-connected induction motorses lead to
Cross motor cabinet and installation is fixed, and parallel-connected induction motorses use adjustable speed twin shaft output motor, first rotating shaft one end and parallel-connected induction motorses
Main shaft is connected, and the first rotating shaft other end is connected with first connecting rod upper end, between first connecting rod lower end and second connecting rod upper end
It is attached using rotational pin, second connecting rod lower end is connected with second rotating shaft one end, and the second rotating shaft other end is arranged on rotation
On pedestal, rotating basis lower end is provided with swivel bearing, and swivel bearing is mutually fixed with moving platform upper surface, rotating basis upper end
The double end sleeve being engaged with the second rotating shaft is provided with, first connecting rod middle inside and second connecting rod middle inside are respectively set
There are the first mounting seat and the second mounting seat, limit spring is between the first mounting seat and the second mounting seat, and in limit spring
End is connected with the first mounting seat, 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
Central axis of the structure along the pedestal that feeds intake respectively symmetrically arranges that material storage tube is positioned at the pedestal upper end center opening position that feeds intake；Described throwing
Material mechanism includes feed intake ear mount, first rotating shaft, the support that feeds intake, the second rotating shaft, shovel material support, the scraper bowl that feeds intake, actuating unit, first
Compression spring and the second compression spring；The described pedestal lower end that feeds intake is connected by first rotating shaft with the ear mount that feeds intake, and feed intake branch
Frame upper end is connected by the second rotating shaft with shovel material support one end, and the support that feeds intake is in ladder-shaper structure is climbed, between being waited on the inside of the support that feeds intake
Away from cross bar is provided with, shovel material support uses the rectangular box structure of hydraulic telescopic type, and it is another that the scraper bowl that feeds intake is fixed on shovel material support
End, and the cross section transverse for the scraper bowl that feeds intake is in sector structure, actuating unit is below the support that feeds intake, and the first compression spring is positioned at throwing
Expect between pedestal and the support that feeds intake, and the first compression spring upper end is provided with the first rotary column, the first rotary column is hinged on the support that feeds intake
Cross bar on, the first compression spring lower end is provided with the first connecting seat, and the first connecting seat, which is fixed on, to feed intake on pedestal upper surface,
Two compression press springs are located on the inside of 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 the cross bar for feeding intake support, the second compression spring lower end is provided with the second connecting seat, and the second connecting seat is fixed on the pedestal that feeds intake
On upper surface.
2. a kind of large area sewage purification environmental protection humanoid robot according to claim 1 is used as industry manipulator, its feature exists
In：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 axis and
The quantity of rolling bearing units is two；Described power shaft is respectively symmetrically fixed on power through the pedestal upper end that feeds intake, follow-up pulley
Rotating shaft both ends, steel wire rope one end are fixed on follow-up pulley, and the steel wire rope other end is wrapped on driving pulley, transition axis one end with
It is connected between driving pulley using key, the transition axis other end is provided with driving gear, is consolidated in the middle part of transition axis by rolling bearing units
It is scheduled on and feeds intake on pedestal upper surface, driving gear is fixed on the output shaft of power motor, and driving gear and driven gear phase
Engagement, power motor is arranged on motorized rails by mobile motor seat, and the cross section transverse of motorized rails is in I-shaped structure,
Motorized rails, which are fixed on, to feed intake on pedestal upper surface.
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 CN106002946A (en) | 2016-10-12 |
| CN106002946B true 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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| CN (2) | CN108127645B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107399201B (en) * | 2017-07-25 | 2019-12-03 | 安徽省唐骏重工机械有限责任公司 | A kind of adaptation adjustment type agricultural machinery pulley mounting device |
| CN113339501A (en) * | 2021-07-06 | 2021-09-03 | 吉林工程技术师范学院 | Gear shifting device of automobile transmission |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013530034A (en) * | 2010-05-24 | 2013-07-25 | エフ．ビー．テクノロジーズ ピーティーワイ リミテッド | System for manipulating objects |
| CN102257980B (en) * | 2010-05-27 | 2013-01-09 | 吴为国 | Split 360-degree automatic dried diet feeder for fishpond |
| CN102452074A (en) * | 2010-10-27 | 2012-05-16 | 鸿富锦精密工业（深圳）有限公司 | Parallel robot |
| EP3031651B1 (en) * | 2012-12-22 | 2018-04-25 | Maytronics Ltd. | Underwater station for pool cleaning robots |
| CN203779488U (en) * | 2014-03-30 | 2014-08-20 | 上海理工大学 | Delta parallel robot |
| CN204868856U (en) * | 2015-08-14 | 2015-12-16 | 深圳市德富莱自动化设备有限公司 | Delta parallel robot |
| CN105174537B (en) * | 2015-09-14 | 2016-10-19 | 潘佳远 | A kind of Industrial sewage treatment system and purification method |
| CN105291096B (en) * | 2015-11-27 | 2017-02-01 | 中国地质大学（武汉） | Heavy-load horizontal-movement transfer robot mechanism with three degrees of freedom |
-
2016
- 2016-06-23 CN CN201810020809.9A patent/CN108127645B/en active Active
- 2016-06-23 CN CN201610471621.7A patent/CN106002946B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106002946A (en) | 2016-10-12 |
| CN108127645A (en) | 2018-06-08 |
| CN108127645B (en) | 2020-07-24 |
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Inventor after: Li Jianying Inventor after: Wang Hongbo Inventor after: Cao Yu Inventor before: Yu Tianle |
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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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Effective date of registration: 20181102 Address after: 414002 room 538, Yungang Road Customs Service building, Chenglingji new port, Yueyang, Hunan Patentee after: Hakda robotics group Yueyang Co., Ltd. Address before: 150000 Heilongjiang Harbin Dalian economic and Trade Zone, the North Road and Xingkai Road intersection Patentee before: Hagongda robot group (Harbin) Asset Management Co., Ltd. |
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Effective date of registration: 20181225 Address after: 414002 Fourth Floor, Building 2, Xindeng Incubation Building, Yungang Road Military-Civil Integration Industrial Park, Chenglingji New Port District, Yueyang City, Hunan Province Patentee after: Harbin University of Technology Robot (Yueyang) Research Institute Co., Ltd. Address before: 414002 room 538, Yungang Road Customs Service building, Chenglingji new port, Yueyang, Hunan Patentee before: Hakda robotics group Yueyang Co., Ltd. |
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