CN106120891B - Multifunction manipulator - Google Patents
Multifunction manipulator Download PDFInfo
- Publication number
- CN106120891B CN106120891B CN201610705383.1A CN201610705383A CN106120891B CN 106120891 B CN106120891 B CN 106120891B CN 201610705383 A CN201610705383 A CN 201610705383A CN 106120891 B CN106120891 B CN 106120891B
- Authority
- CN
- China
- Prior art keywords
- steering engine
- joint steering
- stent
- clamp hand
- 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.)
- Expired - Fee Related
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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, wrist joint steering engine stent, scraper bowl connecting plate, wrist joint steering engine, dipper-arm, elbow joint steering engine stent, elbow joint steering engine, mechanical clamp hand, mechanical clamp hand steering engine, support plate mechanism, mechanical clamping arm, connecting plate, shoulder joint steering engine, shoulder joint steering engine stent, pedestal shaft coupling, ball bearing, base support and pedestal steering engine.Pass through the rotation, pitching and squeeze motion of five servos control manipulators.Realize that the excavation of scraper bowl is banketed operation, meanwhile, the mechanical clamp hand of multifunction manipulator can grip the bridging of the objects such as flat sheet, trees and pave the way, so that vehicle passes through.The overall structure of multifunction manipulator is simple, highly practical.
Description
Technical field
The invention belongs to mechanical equipments, and in particular to a kind of multifunction manipulator.
Background technology
At present, well known manipulator is typically to be made of structures such as motor, joint, mechanical arm and end effectors, mainly
It needs to complete set action and task for different functions, joint and mechanical arm is realized by program controlled motor parameter
Movement, and then required function is realized by end effector.But structure and movenent performance limitation due to end effector, profit
Multiple functions are completed simultaneously with a set of manipulator to be then very difficult to realization, and in practical production and living, then it often needs
Two kinds of even multiple functions are realized simultaneously.
Product similar at present rests on design test phase mostly, and only seldom Related product occurs on the market,
Most products are only capable of realizing the pickup function of single object.
Invention content
The purpose of the present invention is to provide a kind of multifunction manipulator, it is single to overcome existing manipulator function, Zhi Nengjin
The problem of row digging operation.
Realize the object of the invention technical solution be：A kind of multifunction manipulator, including scraper bowl, wrist joint steering engine branch
Frame, scraper bowl connecting plate, wrist joint steering engine, dipper-arm, elbow joint steering engine stent, elbow joint steering engine, mechanical clamp hand, mechanical clamp hand rudder
Machine, support plate mechanism, mechanical clamping arm, connecting plate, shoulder joint steering engine, shoulder joint steering engine stent, pedestal shaft coupling, ball bearing,
Base support and pedestal steering engine.
Base support bottom is connected with mobile platform, and pedestal steering engine is fixed in base support, the output shaft of pedestal steering engine
It is connect by ball bearing with pedestal shaft coupling, shoulder joint steering engine stent is connected with pedestal shaft coupling top surface, and shoulder joint steering engine is consolidated
It is scheduled in shoulder joint steering engine stent, mechanical clamping arm one end is arranged on shoulder joint steering engine stent both sides, the two rotation connection, shoulder joint
The output shaft for saving steering engine is connect by connecting plate with any one mechanical clamping arm, the rotation of control machinery clamping arm；Mechanical clamp hand
Mechanical clamp hand is respectively equipped on the inside of the two-arm of the arm other end, outside is equipped with mechanical clamp hand steering engine, mechanical clamp hand and mechanical clamp hand rudder
Machine connects, and is rotated by mechanical clamp hand servos control machinery clamp hand, and support plate mechanism, the branch trigger are additionally provided on mechanical clamping arm
Structure includes one piece of transverse slat and two pieces of risers, and transverse slat both ends are connected with mechanical clamping arm, and two pieces of risers are parallel to be fixed on transverse slat top surface,
And riser and mechanical clamp hand homonymy, elbow joint steering engine stent and two pieces of risers are rotatablely connected, elbow joint steering engine is fixed on elbow joint
In steering engine stent, one end of elbow joint steering engine stent and mechanical clamp hand homonymy is connected with dipper-arm one end, elbow joint steering engine it is defeated
Shaft is connect with dipper-arm, and the dipper-arm other end is equipped with wrist joint steering engine stent, and wrist joint steering engine is fixed on wrist joint steering engine branch
In frame, the output axis connection of dipper-arm and wrist joint steering engine, scraper bowl passes through the scraper bowl connecting plate of its both sides and wrist joint steering engine branch
Frame is rotatablely connected.
Compared with prior art, the present invention its remarkable advantage is：
（1）It can carry out excavating operation of banketing by scraper bowl.
（2）The objects such as flat sheet, trees can be gripped by mechanical clamp hand.
（3）Of simple structure and strong practicability.
Description of the drawings
Fig. 1 is the stereogram of multifunction manipulator of the present invention.
Fig. 2 is the side view of multifunction manipulator of the present invention.
Fig. 3 is the bottom structure sectional view of multifunction manipulator of the present invention.
Fig. 4 is the mechanical clamping arm partial enlarged view of multifunction manipulator of the present invention.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
With reference to Fig. 1 to Fig. 4, a kind of multifunction manipulator, including scraper bowl 1, wrist joint steering engine stent 2, scraper bowl connecting plate 3,
Wrist joint steering engine 4, dipper-arm 5, elbow joint steering engine stent 6, elbow joint steering engine 7, mechanical clamp hand 8, mechanical clamp hand steering engine, branch trigger
Structure, mechanical clamping arm 9, connecting plate 10, shoulder joint steering engine 11, shoulder joint steering engine stent 12, pedestal shaft coupling 13, ball bearing
14th, base support 15 and pedestal steering engine 16.
Bottom-up structure is as follows successively：15 bottom of base support is connected with mobile platform by bolt, pedestal steering engine 16
Profit is fixed by bolts in base support 15, and the output shaft of pedestal steering engine 16 is connected by ball bearing 14 and pedestal shaft coupling 13
It connects, shoulder joint steering engine stent 12 is connected with 13 top surface bolt of pedestal shaft coupling, and 11 profit of shoulder joint steering engine is fixed by bolts to shoulder joint
It saves in steering engine stent 12, mechanical 9 one end of clamping arm is arranged on 12 both sides of shoulder joint steering engine stent, and the two is rotated by lubricating cup bearing
Connection, the output shaft of shoulder joint steering engine 11 are connect by connecting plate 10 with any one mechanical clamping arm 9, control machinery clamping arm
9 rotations.Mechanical clamp hand 8 is respectively equipped on the inside of the two-arm of mechanical 9 other end of clamping arm, outside is equipped with mechanical clamp hand steering engine, machinery
Clamp hand 8 is connect with mechanical clamp hand steering engine using steering engine disk, is rotated by mechanical clamp hand servos control machinery clamp hand 8, mechanical clamp hand
Support plate mechanism is additionally provided on arm 9, the support plate mechanism includes one piece of transverse slat and two pieces of risers, transverse slat both ends and mechanical clamping arm 9
Bolt is connected, and two pieces of risers are parallel to be fixed on transverse slat top surface, and riser and 8 homonymy of mechanical clamp hand, elbow joint steering engine stent 6 and two
Block riser is rotatablely connected by lubricating cup bearing, and 7 profit of elbow joint steering engine is fixed by bolts in elbow joint steering engine stent 6, elbow joint
Steering engine stent 6 and one end of 8 homonymy of mechanical clamp hand are connected with 5 one terminal bolt of dipper-arm, the output shaft and scraper bowl of elbow joint steering engine 7
Arm 5 is connected by steering engine disk, and 5 other end of dipper-arm is equipped with wrist joint steering engine stent 2, and 4 profit of wrist joint steering engine is fixed by bolts to
In wrist joint steering engine stent 2, dipper-arm 5 is connect with the output shaft of wrist joint steering engine 4 by steering engine disk, and scraper bowl 1 passes through its both sides
Scraper bowl connecting plate 3 be rotatablely connected with wrist joint steering engine stent 2 by lubricating cup bearing.
When in work progress, encountering gully, vehicle can not by when, the gully is shallower, when can be by banketing levelling,
The course of work is as follows：Pedestal steering engine 16 controls the rotary motion of entire manipulator by ball bearing 14 and pedestal shaft coupling 13；
The pitching movement of 11 control machinery clamping arm 9 of shoulder joint steering engine；Elbow joint steering engine 7 controls the pitching movement of dipper-arm 5；Wrist joint
Steering engine 4 controls the pitching movement of scraper bowl 1.Scraper bowl 1 cuts out the soil and sandstone of ground by the linkage of this four degree of freedom steering engines,
Scraper bowl 1 is dug after full soil and sandstone, is moved at gully, then is fallen soil and sandstone by the linkage of above four degree of freedom steering engines
It into gully and fills and leads up, so that vehicle passes through.
When the gully is deeper, when can not be by banketing levelling, mechanical clamp hand can be passed through and grip flat sheet, trees etc.
Object paves road surface, and the course of work is as follows：Pedestal steering engine 16 controls entire machinery by ball bearing 14 and pedestal shaft coupling 13
The rotary motion of hand；The pitching movement of 11 control machinery clamping arm 9 of shoulder joint steering engine；Mechanical clamp hand servos control machinery clamp hand 8
Squeeze motion.Mechanical clamp hand 8 grips the objects such as flat sheet, trees by the linkage of these three degree of freedom steering engines, movement
The objects such as flat sheet, trees are laid on gully at gully, then by the linkage of three above degree of freedom steering engine, so that
Vehicle passes through.
Claims (1)
1. a kind of multifunction manipulator, it is characterised in that：Including scraper bowl（1）, wrist joint steering engine stent（2）, scraper bowl connecting plate
（3）, wrist joint steering engine（4）, dipper-arm（5）, elbow joint steering engine stent（6）, elbow joint steering engine（7）, mechanical clamp hand（8）, machinery
Clamp hand steering engine, support plate mechanism, mechanical clamping arm（9）, connecting plate（10）, shoulder joint steering engine（11）, shoulder joint steering engine stent（12）、
Pedestal shaft coupling（13）, ball bearing（14）, base support（15）With pedestal steering engine（16）；
Bottom-up structure is as follows successively：Base support（15）Bottom is connected with mobile platform, pedestal steering engine（16）It is fixed on bottom
Seat support（15）It is interior, pedestal steering engine（16）Output shaft pass through ball bearing（14）With pedestal shaft coupling（13）Connection, shoulder joint
Steering engine stent（12）With pedestal shaft coupling（13）Top surface is connected, shoulder joint steering engine（11）It is fixed on shoulder joint steering engine stent（12）
It is interior, mechanical clamping arm（9）One end is arranged on shoulder joint steering engine stent（12）Both sides, the two rotation connection, shoulder joint steering engine（11）
Output shaft pass through connecting plate（10）With any one mechanical clamping arm（9）Connection, control machinery clamping arm（9）Rotation；Machinery
Clamping arm（9）Mechanical clamp hand is respectively equipped on the inside of the two-arm of the other end（8）, outside is equipped with mechanical clamp hand steering engine, mechanical clamp hand（8）
It is connect with mechanical clamp hand steering engine, passes through mechanical clamp hand servos control machinery clamp hand（8）Rotation, mechanical clamping arm（9）On be additionally provided with
Support plate mechanism, the support plate mechanism include one piece of transverse slat and two pieces of risers, transverse slat both ends and mechanical clamping arm（9）It is connected, two pieces
Riser is parallel to be fixed on transverse slat top surface, and riser and mechanical clamp hand（8）Homonymy, elbow joint steering engine stent（6）Turn with two pieces of risers
Dynamic connection, elbow joint steering engine（7）It is fixed on elbow joint steering engine stent（6）It is interior, elbow joint steering engine stent（6）With mechanical clamp hand（8）
One end of homonymy and dipper-arm（5）One end is connected, elbow joint steering engine（7）Output shaft and dipper-arm（5）Connection, dipper-arm（5）
The other end is equipped with wrist joint steering engine stent（2）, wrist joint steering engine（4）It is fixed on wrist joint steering engine stent（2）It is interior, dipper-arm（5）
With wrist joint steering engine（4）Output axis connection, scraper bowl（1）Pass through the scraper bowl connecting plate of its both sides（3）With wrist joint steering engine stent
（2）Rotation connection.
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 CN106120891A (en) | 2016-11-16 |
| CN106120891B true 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) |
Families Citing this family (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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106120891A (en) | 2016-11-16 |
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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 |