CN106120891A - Multifunction manipulator - Google Patents
Multifunction manipulator Download PDFInfo
- Publication number
- CN106120891A CN106120891A CN201610705383.1A CN201610705383A CN106120891A CN 106120891 A CN106120891 A CN 106120891A CN 201610705383 A CN201610705383 A CN 201610705383A CN 106120891 A CN106120891 A CN 106120891A
- Authority
- CN
- China
- Prior art keywords
- steering wheel
- joint steering
- machinery
- support
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/301—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom with more than two arms (boom included), e.g. two-part boom with additional dipper-arm
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/38—Cantilever beams, i.e. booms;, e.g. manufacturing processes, forms, geometry or materials used for booms; Dipper-arms, e.g. manufacturing processes, forms, geometry or materials used for dipper-arms; Bucket-arms
- E02F3/382—Connections to the frame; Supports for booms or arms
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of multifunction manipulator, including scraper bowl, carpal joint steering wheel support, scraper bowl connecting plate, carpal joint steering wheel, dipper-arm, elbow joint steering wheel support, elbow joint steering wheel, machinery tong, machinery tong steering wheel, support plate mechanism, machinery clamping arm, connecting plate, shoulder joint steering wheel, shoulder joint steering wheel support, base shaft coupling, ball bearing, base support and base steering wheel.By rotation, pitching and the squeeze motion of five servos control mechanical hands.Realizing the excavation of scraper bowl to banket operation, meanwhile, the mechanical tong of multifunction manipulator can grip the object such as flat sheet, trees and put up a bridge and pave the way, in order to vehicle passes through.The overall structure of multifunction manipulator is simple, practical.
Description
Technical field
The invention belongs to plant equipment, be specifically related to a kind of multifunction manipulator.
Background technology
At present, known mechanical hand is typically to be made up of, mainly structures such as motor, joint, mechanical arm and end effectors
Need set action and task for different functions, realize joint and mechanical arm by program controlled motor parameter
Motion, and then realized required function by end effector.But, owing to structure and the exercise performance of end effector limit, profit
Complete multiple function with a set of mechanical hand to be then very difficult to realization simultaneously, and in actual productive life, the most often need
To realize two kinds of even several functions simultaneously.
Similar product rests on design test phase mostly, and the most little Related product occurs,
Most products is only capable of realizing the pickup function of single object.
Summary of the invention
It is an object of the invention to provide a kind of multifunction manipulator, overcome existing machinery hands function singleness, Zhi Nengjin
The problem of row digging operation.
The technical solution realizing the object of the invention is: a kind of multifunction manipulator, props up including scraper bowl, carpal joint steering wheel
Frame, scraper bowl connecting plate, carpal joint steering wheel, dipper-arm, elbow joint steering wheel support, elbow joint steering wheel, machinery tong, machinery tong rudder
Machine, support plate mechanism, machinery clamping arm, connecting plate, shoulder joint steering wheel, shoulder joint steering wheel support, base shaft coupling, ball bearing,
Base support and base steering wheel.
Being connected with mobile platform bottom base support, base steering wheel is fixed in base support, the output shaft of base steering wheel
Being connected with base shaft coupling by ball bearing, shoulder joint steering wheel support is connected with base shaft coupling end face, and shoulder joint steering wheel is solid
Being scheduled in shoulder joint steering wheel support, machinery clamping arm one end is arranged on shoulder joint steering wheel support both sides, and both are rotationally connected, shoulder joint
The output shaft of joint steering wheel is connected with any one mechanical clamping arm by connecting plate, controls machinery clamping arm and rotates；Machinery tong
Being respectively equipped with machinery tong inside the two-arm of the arm other end, outside is provided with machinery tong steering wheel, machinery tong and machinery tong rudder
Machine connects, and is rotated by machinery tong servos control machinery tong, and machinery clamping arm is additionally provided with support plate mechanism, described trigger
Structure includes one piece of transverse slat and two pieces of risers, and transverse slat two ends are connected with machinery clamping arm, and two pieces of risers are parallel is fixed on transverse slat end face,
And riser is rotationally connected with machinery tong homonymy, elbow joint steering wheel support and two pieces of risers, elbow joint steering wheel is fixed on elbow joint
In steering wheel support, elbow joint steering wheel support is connected with one end and dipper-arm one end of machinery tong homonymy, elbow joint steering wheel defeated
Shaft is connected with dipper-arm, and the dipper-arm other end is provided with carpal joint steering wheel support, and carpal joint steering wheel is fixed on carpal joint steering wheel and props up
In frame, dipper-arm is connected with the output shaft of carpal joint steering wheel, and scraper bowl is propped up with carpal joint steering wheel by the scraper bowl connecting plate of its both sides
Frame is rotationally connected.
Compared with prior art, its remarkable advantage is the present invention:
(1) excavation can be carried out by scraper bowl to banket operation.
(2) object such as flat sheet, trees can be gripped by machinery tong.
(3) simple in construction, practical.
Accompanying drawing explanation
Fig. 1 is the axonometric chart of multifunction manipulator of the present invention.
Fig. 2 is the side view of multifunction manipulator of the present invention.
Fig. 3 is the polycrystalline substance sectional view of multifunction manipulator of the present invention.
Fig. 4 is the mechanical clamping arm partial enlarged drawing of multifunction manipulator of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is described in further detail.
In conjunction with Fig. 1 to Fig. 4, a kind of multifunction manipulator, including scraper bowl 1, carpal joint steering wheel support 2, scraper bowl connecting plate 3,
Carpal joint steering wheel 4, dipper-arm 5, elbow joint steering wheel support 6, elbow joint steering wheel 7, machinery tong 8, machinery tong steering wheel, a trigger
Structure, machinery clamping arm 9, connecting plate 10, shoulder joint steering wheel 11, shoulder joint steering wheel support 12, base shaft coupling 13, ball bearing
14, base support 15 and base steering wheel 16.
Bottom-up structure is as follows: be connected by bolt with mobile platform bottom base support 15, base steering wheel 16
Utilization is bolted in base support 15, and the output shaft of base steering wheel 16 is by ball bearing 14 with base shaft coupling 13 even
Connecing, shoulder joint steering wheel support 12 is connected with base shaft coupling 13 end face bolt, and shoulder joint steering wheel 11 utilizes and is bolted to shoulder joint
In joint steering wheel support 12, machinery clamping arm 9 one end is arranged on shoulder joint steering wheel support 12 both sides, and both are rotated by lubricating cup bearing
Connecting, the output shaft of shoulder joint steering wheel 11 is connected with any one mechanical clamping arm 9 by connecting plate 10, controls machinery clamping arm
9 rotate.Being respectively equipped with machinery tong 8 inside the two-arm of machinery clamping arm 9 other end, outside is provided with machinery tong steering wheel, machinery
Tong 8 utilizes steering wheel dish to be connected with machinery tong steering wheel, is rotated by machinery tong servos control machinery tong 8, machinery tong
Being additionally provided with support plate mechanism on arm 9, described support plate mechanism includes one piece of transverse slat and two pieces of risers, transverse slat two ends and machinery clamping arm 9
Bolt be connected, two pieces of parallel transverse slat end faces that are fixed on of riser, and riser with machinery tong 8 homonymy, elbow joint steering wheel support 6 and two
Block riser is rotationally connected by lubricating cup bearing, and elbow joint steering wheel 7 utilizes and is bolted in elbow joint steering wheel support 6, elbow joint
Steering wheel support 6 is connected with dipper-arm 5 one terminal bolt with one end of machinery tong 8 homonymy, the output shaft of elbow joint steering wheel 7 and scraper bowl
Arm 5 is connected by steering wheel dish, and dipper-arm 5 other end is provided with carpal joint steering wheel support 2, and carpal joint steering wheel 4 utilizes and is bolted to
In carpal joint steering wheel support 2, dipper-arm 5 is connected by steering wheel dish with the output shaft of carpal joint steering wheel 4, and scraper bowl 1 is by its both sides
Scraper bowl connecting plate 3 be rotationally connected by lubricating cup bearing with carpal joint steering wheel support 2.
When, in work progress, running into gully, vehicle cannot by time, described gully is shallower, can by banketing levelling time, work
Process is as follows: base steering wheel 16 controls the rotary motion of whole mechanical hand by ball bearing 14 and base shaft coupling 13；Shoulder joint
Joint steering wheel 11 controls the elevating movement of machinery clamping arm 9；Elbow joint steering wheel 7 controls the elevating movement of dipper-arm 5；Carpal joint steering wheel
4 elevating movements controlling scraper bowl 1.Scraper bowl 1 cuts out soil on the ground and sandstone, scraper bowl by the linkage of these four degree of freedom steering wheels
After 1 digs full soil and sandstone, move at gully, then by the linkage of above four degree of freedom steering wheels, soil and sandstone are poured into ditch
In gully and fill and lead up, so that vehicle passes through.
When described gully is deeper, it is impossible to during by banketing levelling, can be by machinery tong gripping flat sheet, trees etc.
Object paves road surface, and work process is as follows: base steering wheel 16 controls whole machinery by ball bearing 14 and base shaft coupling 13
The rotary motion of hands；Shoulder joint steering wheel 11 controls the elevating movement of machinery clamping arm 9；Machinery tong servos control machinery tong 8
Squeeze motion.Machinery tong 8 grips the object such as flat sheet, trees by the linkage of these three degree of freedom steering wheel, motion
At gully, then by the linkage of three above degree of freedom steering wheel, the object such as flat sheet, trees is laid on gully, so that
Vehicle passes through.
Claims (1)
1. a multifunction manipulator, it is characterised in that: include scraper bowl (1), carpal joint steering wheel support (2), scraper bowl connecting plate
(3), carpal joint steering wheel (4), dipper-arm (5), elbow joint steering wheel support (6), elbow joint steering wheel (7), machinery tong (8), machinery
Tong steering wheel, support plate mechanism, machinery clamping arm (9), connecting plate (10), shoulder joint steering wheel (11), shoulder joint steering wheel support (12),
Base shaft coupling (13), ball bearing (14), base support (15) and base steering wheel (16)；
Bottom-up structure is as follows: base support (15) bottom is connected with mobile platform, and base steering wheel (16) is fixed on the end
In seat support (15), the output shaft of base steering wheel (16) is connected with base shaft coupling (13) by ball bearing (14), shoulder joint
Steering wheel support (12) is connected with base shaft coupling (13) end face, and shoulder joint steering wheel (11) is fixed on shoulder joint steering wheel support (12)
In, machinery clamping arm (9) one end is arranged on shoulder joint steering wheel support (12) both sides, and both are rotationally connected, shoulder joint steering wheel (11)
Output shaft is connected with any one mechanical clamping arm (9) by connecting plate (10), control mechanical clamping arm (9) rotation；Machinery
Being respectively equipped with machinery tong (8) inside the two-arm of clamping arm (9) other end, outside is provided with machinery tong steering wheel, machinery tong (8)
It is connected with machinery tong steering wheel, is rotated by machinery tong servos control machinery tong (8), machinery clamping arm (9) is additionally provided with
Support plate mechanism, described support plate mechanism includes that one piece of transverse slat and two pieces of risers, transverse slat two ends are connected with machinery clamping arm (9), two pieces
The parallel transverse slat end face that is fixed on of riser, and riser with machinery tong (8) homonymy, elbow joint steering wheel support (6) turns with two pieces of risers
Being dynamically connected, elbow joint steering wheel (7) is fixed in elbow joint steering wheel support (6), elbow joint steering wheel support (6) and machinery tong (8)
One end of homonymy is connected with dipper-arm (5) one end, and the output shaft of elbow joint steering wheel (7) is connected with dipper-arm (5), dipper-arm (5)
The other end is provided with carpal joint steering wheel support (2), and carpal joint steering wheel (4) is fixed in carpal joint steering wheel support (2), dipper-arm (5)
Being connected with the output shaft of carpal joint steering wheel (4), scraper bowl (1) is by the scraper bowl connecting plate (3) of its both sides and carpal joint steering wheel support
(2) it is rotationally connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610705383.1A CN106120891B (en) | 2016-08-22 | 2016-08-22 | Multifunction manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610705383.1A CN106120891B (en) | 2016-08-22 | 2016-08-22 | Multifunction manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106120891A true CN106120891A (en) | 2016-11-16 |
| CN106120891B CN106120891B (en) | 2018-07-03 |
Family
ID=57274988
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610705383.1A Expired - Fee Related CN106120891B (en) | 2016-08-22 | 2016-08-22 | Multifunction manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106120891B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110241873A (en) * | 2019-07-03 | 2019-09-17 | 西安工业大学 | A kind of crawler-mounted excavator and its method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1995032078A1 (en) * | 1994-05-19 | 1995-11-30 | Brien Brian Jonathan O | Shape variable structure |
| CN101372096A (en) * | 2008-08-05 | 2009-02-25 | 东南大学 | Multiple-joint service robot arm capable of implementing translational decoupling at Z direction |
| CN105171726A (en) * | 2015-09-23 | 2015-12-23 | 济南大学 | Multi-joint bionic mechanical arm |
| CN205224134U (en) * | 2015-11-26 | 2016-05-11 | 宜昌长兴机械制造有限公司 | Excavator robotic arm and multi -functional excavator |
| CN105708585A (en) * | 2016-01-20 | 2016-06-29 | 沈阳工业大学 | Six-degree-of-freedom intelligent artificial arm based on line-drive differential joints |
| CN206015747U (en) * | 2016-08-22 | 2017-03-15 | 南京理工大学 | Multifunction manipulator |
-
2016
- 2016-08-22 CN CN201610705383.1A patent/CN106120891B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1995032078A1 (en) * | 1994-05-19 | 1995-11-30 | Brien Brian Jonathan O | Shape variable structure |
| CN101372096A (en) * | 2008-08-05 | 2009-02-25 | 东南大学 | Multiple-joint service robot arm capable of implementing translational decoupling at Z direction |
| CN105171726A (en) * | 2015-09-23 | 2015-12-23 | 济南大学 | Multi-joint bionic mechanical arm |
| CN205224134U (en) * | 2015-11-26 | 2016-05-11 | 宜昌长兴机械制造有限公司 | Excavator robotic arm and multi -functional excavator |
| CN105708585A (en) * | 2016-01-20 | 2016-06-29 | 沈阳工业大学 | Six-degree-of-freedom intelligent artificial arm based on line-drive differential joints |
| CN206015747U (en) * | 2016-08-22 | 2017-03-15 | 南京理工大学 | Multifunction manipulator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110241873A (en) * | 2019-07-03 | 2019-09-17 | 西安工业大学 | A kind of crawler-mounted excavator and its method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106120891B (en) | 2018-07-03 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180703 Termination date: 20200822 |
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| CF01 | Termination of patent right due to non-payment of annual fee |