CN106181955B - A kind of construction transportation industrial robot Special supporting device - Google Patents
A kind of construction transportation industrial robot Special supporting device Download PDFInfo
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- CN106181955B CN106181955B CN201610552776.3A CN201610552776A CN106181955B CN 106181955 B CN106181955 B CN 106181955B CN 201610552776 A CN201610552776 A CN 201610552776A CN 106181955 B CN106181955 B CN 106181955B
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- electric pushrod
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- 238000010276 construction Methods 0.000 title claims abstract description 30
- 238000013016 damping Methods 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 2
- 239000004035 construction material Substances 0.000 abstract description 9
- 238000000034 method Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 7
- 239000000463 material Substances 0.000 abstract description 6
- 230000001681 protective effect Effects 0.000 abstract description 4
- 230000006378 damage Effects 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 5
- 238000005007 materials handling Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 239000011449 brick Substances 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 239000004566 building material Substances 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- -1 sandstone Substances 0.000 description 1
- 239000010959 steel 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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Vibration Prevention Devices (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of construction transportation industrial robot Special supporting devices, including redundancy four-degree-of-freedom vibration-damped table and running gear, running gear is located at immediately below redundancy four-degree-of-freedom vibration-damped table, and running gear upper end is connected with redundancy four-degree-of-freedom vibration-damped table lower end.The present invention uses the parallel institution form of 2-UPS-2-RPS; it, which is able to achieve, moves along X-axis and Z axis and around X-axis and around the movement for rotating four freedom degree directions of Y-axis totally; so that the problem of present invention damages when will not cause construction material landing or material in strong motion in the poor construction site place walking of uneven and pavement behavior, plays certain protective effect to construction material in the handling process.
Description
Technical field
The present invention relates to construction ancillary equipment fields, and specifically a kind of construction transportation industrial robot is dedicated
Support device.
Background technique
Construction refers to the production activity of engineering construction implementation phase, is the building course of all kinds of buildings, can also be with
It says it is various lines on design drawing, in specified place, becomes process in kind；It includes basic engineering construction, master
Body structure construction, roof construction, decorative engineering construction etc.；The place of construction operation is known as " construction site " or cries
" construction site ".The carrying that more work is exactly construction material, such as sandstone, brick, steel are encountered in building construction process
Muscle building materials or cement etc. mostly use small and medium construction construction site manually carry at present, and manual handling is not only
A large amount of labour is occupied, handling efficiency is low；And since construction site peril hidden danger is more, and construction personnel
Awareness of safety is not strong, often results in unnecessary safety accident in materials handling process, causes actual bodily harm to construction personnel,
Monetary losses also are caused to unit in charge of construction simultaneously；Materials handling work is carried out using electrically driven truck or fork truck although also having at present
Industry, but since construction site place is uneven and pavement behavior is poor, be easy to cause and using electrically driven truck or fork
Vehicle occur when materials handling operation material and slides or material the problem of damaging in strong motion.In consideration of it, this hair
It is bright to provide a kind of construction transportation industrial robot Special supporting device.
Summary of the invention
In order to make up for the deficiencies of the prior art, the present invention provides a kind of construction transportation industrial robot Special supports
Device.
The present invention to be solved the used following technical scheme of its technical problem to realize.
A kind of construction transportation industrial robot Special supporting device, including redundancy four-degree-of-freedom vibration-damped table and walking dress
It sets, running gear is located at immediately below redundancy four-degree-of-freedom vibration-damped table, and under running gear upper end and redundancy four-degree-of-freedom vibration-damped table
End is connected.
Further, the redundancy four-degree-of-freedom shake table includes fixed platform, moving platform, the first branch and the second branch；
The fixed platform and moving platform is disc-shaped structure, and moving platform is located at right above fixed platform；First branch and
The quantity of second branch is two, and the first branch and the second branch are respectively positioned between fixed platform and moving platform, the first branch and
The both ends of two branches are connected with fixed platform and moving platform respectively, and the horizontal installation angle of the first branch and the second branch is
90 degree；First branch includes the first ear mount, Hooke's hinge, the first electric pushrod, the first spherical hinge, the first connecting column and the
One vibrating spring；First ear mount is fixed on fixed platform upper surface, between the first ear mount and the first electric pushrod lower end
It is attached using Hooke's hinge, the first electric pushrod upper end is connected with the first spherical hinge, and the first spherical hinge passes through the first connection
Column is fixed on the lower end surface of moving platform, and the first vibrating spring is around covering on the first electric pushrod；Two can be carried out by Hooke's hinge
The rotation in a direction can carry out the rotation in three directions by the first spherical hinge, can carry out moving down by the first electric pushrod
Dynamic, the first branch uses the form of 2-UPS parallel institution, and subtracting when increasing first chain movement by the first vibrating spring
Shock stability improves the effect of damping of the present invention；Second branch include the second ear mount, rotational pin, the second electric pushrod,
Second spherical hinge, the second connecting column and the second vibrating spring；Second ear mount is fixed on fixed platform upper surface, the second ear
It is attached between seat and the second electric pushrod lower end using rotational pin, the second electric pushrod upper end is connected with the second spherical hinge
It connects, the second spherical hinge is fixed on the lower end surface of moving platform by the second connecting column, and the second vibrating spring is electronic second around covering
On push rod；The rotation that a direction can be carried out by rotational pin can carry out the rotation in three directions by the second spherical hinge, pass through
Second electric pushrod can move up and down, and the second branch uses the form of 2-RPS parallel institution, and passes through the second vibrating spring
Damping performance when second chain movement is increased, damping effect of the invention is improved；Pass through fixed platform, moving platform, first
Branch and the second branch constitute four-degree-of-freedom symmetric parallel mechanism, and it uses the parallel institution form of 2-UPS-2-RPS,
It is able to achieve the movement of rotation totally four freedom degree directions moved along X-axis and Z axis and around X-axis and around Y-axis, and four freedom degrees
It is independent, can also be with co-ordination by four freedom degrees, and space is small, movement velocity is fast, kinematic dexterity is good and subtracts
Shock stability is good, so that the present invention will not cause in the poor construction site place walking of uneven and pavement behavior
The problem of construction material slides or material is damaged in strong motion, in the handling process plays centainly construction material
Protective effect.
Further, the running gear includes lifting stud, jacking sleeve, walking seat, walking shaft and traveling wheel；Institute
External screw thread is provided on the lifting stud lateral wall stated, jacking sleeve is in the hollow cylindrical structure of both ends open, jacking sleeve
The internal screw thread matched with the external screw thread on lifting stud lateral wall is provided on inner sidewall, lifting stud lower end is mounted on lifting
Sleeve inner, jacking sleeve lower end are fixed on walking seat, and walking seat passes through walking shaft in the U-shaped structure to stand upside down, traveling wheel
It is mounted on walking seat lower position, traveling wheel is in I-shaped structure；Lifting stud is driven to go up and down by rotation lifting stud
Up and down motion in sleeve, for adjusting whole height of the invention.
Compared with prior art, the invention has the following advantages that
(1) present invention uses the parallel institution form of 2-UPS-2-RPS, is able to achieve and moves along X-axis and Z axis and around X
The movement of axis and rotation totally four freedom degree directions around Y-axis, and four freedom degrees are independent, can also be with by four freedom degrees
Co-ordination, and space is small, movement velocity is fast, kinematic dexterity is good and damping performance is good, even if so that the present invention is recessed
Convex uneven and pavement behavior difference construction site place will not cause construction material landing or material in macroseism when walking
The problem of damaging in dynamic situation, plays certain protective effect to construction material in the handling process.
(2) whole height of the invention is adjusted in running gear of the present invention, mobile convenient for the walking of different road conditions.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is the schematic perspective view of redundancy four-degree-of-freedom vibration-damped table of the present invention.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As depicted in figs. 1 and 2, a kind of construction transportation industrial robot Special supporting device, including redundancy four is freely
Spend vibration-damped table 2 and running gear 3, running gear 3 is located at immediately below redundancy four-degree-of-freedom vibration-damped table 2, and 3 upper end of running gear and
2 lower end of redundancy four-degree-of-freedom vibration-damped table is connected.
As shown in Fig. 2, the redundancy four-degree-of-freedom shake table includes fixed platform 21, moving platform 22,23 and of the first branch
Second branch 24；The fixed platform 21 and moving platform 22 is disc-shaped structure, and moving platform 22 be located at fixed platform 21 just on
Side；The quantity of first branch 23 and the second branch 24 is two, and the first branch 23 and the second branch 24 are respectively positioned on and allocate
Between platform 21 and moving platform 22, the both ends of the first branch 23 and the second branch 24 are connected with fixed platform 21 and moving platform 22 respectively
It connects, and the horizontal installation angle of the first branch 23 and the second branch 24 is 90 degree；First branch 23 includes the first ear mount
231, Hooke's hinge 232, the first electric pushrod 233, the first spherical hinge 234, the first connecting column 235 and the first vibrating spring 235；Institute
The first ear mount 231 stated is fixed on 21 upper surface of fixed platform, and the first ear mount 231 and the first electric pushrod are adopted between 233 lower end
It is attached with Hooke's hinge 232,233 upper end of the first electric pushrod is connected with the first spherical hinge 234, and the first spherical hinge 234 is logical
It crosses the first connecting column 235 to be fixed on the lower end surface of moving platform 22, the first vibrating spring 236 is around covering in the first electric pushrod 233
On；The rotation that both direction can be carried out by Hooke's hinge 232 can carry out the rotation in three directions by the first spherical hinge 234, lead to
Crossing the first electric pushrod 233 can move up and down, and the first branch 23 uses the form of 2-UPS parallel institution, and passes through first
Vibrating spring 236 increases the damping performance when movement of the first branch 23, improves the effect of damping of the present invention；Described second
Branch 24 includes the second ear mount 241, rotational pin 242, the second electric pushrod 243, the second spherical hinge 244,245 and of the second connecting column
Second vibrating spring 246；Second ear mount 241 is fixed on 21 upper surface of fixed platform, the second ear mount 241 and second electronic
It is attached between 243 lower end of push rod using rotational pin 242,243 upper end of the second electric pushrod is connected with the second spherical hinge 244
It connects, the second spherical hinge 244 is fixed on the lower end surface of moving platform 22 by the second connecting column 245, and the second vibrating spring 246 is around set
On the second electric pushrod 243；The rotation that a direction can be carried out by rotational pin 242 can be carried out by the second spherical hinge 244
The rotation in three directions can be moved up and down by the second electric pushrod 243, and the second branch 24 uses 2-RPS parallel institution
Form, and by the second vibrating spring 246 increase the second branch 24 movement when damping performance, improve of the invention subtract
Shake effect；Four-degree-of-freedom symmetric parallel machine is constituted by fixed platform 21, moving platform 22, the first branch 23 and the second branch 24
Structure, and it uses the parallel institution form of 2-UPS-2-RPS, is able to achieve and moves along X-axis and Z axis and around X-axis and around Y-axis
The movement of rotation totally four freedom degree directions, and four freedom degrees are independent, by four freedom degrees can also with co-ordination, and
Space is small, movement velocity is fast, kinematic dexterity is good and damping performance is good, even if so that the present invention is on uneven and road surface
Situation difference construction site place will not cause construction material landing or material to damage in strong motion when walking
The problem of, certain protective effect is played to construction material in the handling process.
As shown in Figure 1, the running gear 3 includes lifting stud 31, jacking sleeve 32, walking seat 33, walking shaft
32 and traveling wheel 35；External screw thread is provided on 31 lateral wall of lifting stud, jacking sleeve 32 is hollow in both ends open
Cylindrical-shaped structure is provided with the interior spiral shell matched with the external screw thread on lifting 31 lateral wall of stud on 32 inner sidewall of jacking sleeve
Line, lifting 31 lower end of stud are mounted on inside jacking sleeve 32, and 32 lower end of jacking sleeve is fixed on walking seat 33, seat 33 of walking
In the U-shaped structure of handstand, traveling wheel 35 is mounted on walking 33 lower position of seat by shaft 32 of walking, and traveling wheel 35 is in I-shaped
Type structure；Up and down motion of the lifting stud 31 in jacking sleeve 32 is driven by rotation lifting stud 31, for adjusting
Whole height of the invention.
The basic principles, main features and advantages of the 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 only illustrating for the description in above embodiments and description is of the invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these change and change
Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
It defines.
Claims (1)
1. a kind of construction transportation industrial robot Special supporting device, it is characterised in that: including redundancy four-degree-of-freedom damping
Platform and running gear；The running gear is located at immediately below redundancy four-degree-of-freedom vibration-damped table, and running gear upper end and redundancy
Four-degree-of-freedom vibration-damped table lower end is connected；Wherein:
The redundancy four-degree-of-freedom vibration-damped table includes fixed platform, moving platform, the first branch and the second branch；The fixed platform
It is disc-shaped structure with moving platform, and moving platform is located at right above fixed platform；The number of first branch and the second branch
Amount is two, and the first branch and the second branch are respectively positioned between fixed platform and moving platform, the both ends of the first branch and the second branch
It is connected respectively with fixed platform and moving platform, and the horizontal installation angle of the first branch and the second branch is 90 degree；Described
First branch includes the first ear mount, Hooke's hinge, the first electric pushrod, the first spherical hinge, the first connecting column and the first vibrating spring；
First ear mount is fixed on fixed platform upper surface, between the first ear mount and the first electric pushrod lower end using Hooke's hinge into
Row connection, the first electric pushrod upper end are connected with the first spherical hinge, and the first spherical hinge is fixed on dynamic flat by the first connecting column
On the lower end surface of platform, the first vibrating spring is around covering on the first electric pushrod；
Second branch includes the second ear mount, rotational pin, the second electric pushrod, the second spherical hinge, the second connecting column and the
Two vibrating springs；Second ear mount is fixed on fixed platform upper surface, between the second ear mount and the second electric pushrod lower end
It is attached using rotational pin, the second electric pushrod upper end is connected with the second spherical hinge, and the second spherical hinge passes through the second connection
Column is fixed on the lower end surface of moving platform, and the second vibrating spring is around covering on the second electric pushrod；The running gear includes
Go up and down stud, jacking sleeve, walking seat, walking shaft and traveling wheel；It is provided with external screw thread on the lifting stud lateral wall,
Jacking sleeve is in the hollow cylindrical structure of both ends open, is provided with and is gone up and down on stud lateral wall on jacking sleeve inner sidewall
The internal screw thread that external screw thread matches, lifting stud lower end are mounted on inside jacking sleeve, and jacking sleeve lower end is fixed on walking seat
On, walking seat is mounted on walking seat lower position by shaft of walking in the U-shaped structure to stand upside down, traveling wheel, and traveling wheel is in work
Font structure constitutes four-degree-of-freedom symmetric parallel mechanism, and its by fixed platform, moving platform, the first branch and the second branch
Using the parallel institution form of 2-UPS-2-RPS, it is able to achieve and moves along X-axis and Z axis and be total to around X-axis and around the rotation of Y-axis
The movement of four freedom degree directions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610552776.3A CN106181955B (en) | 2016-07-14 | 2016-07-14 | A kind of construction transportation industrial robot Special supporting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610552776.3A CN106181955B (en) | 2016-07-14 | 2016-07-14 | A kind of construction transportation industrial robot Special supporting device |
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| Publication Number | Publication Date |
|---|---|
| CN106181955A CN106181955A (en) | 2016-12-07 |
| CN106181955B true CN106181955B (en) | 2018-12-21 |
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| CN201610552776.3A Active CN106181955B (en) | 2016-07-14 | 2016-07-14 | A kind of construction transportation industrial robot Special supporting device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108032301A (en) * | 2017-12-15 | 2018-05-15 | 沈坤龙 | It is a kind of that there is the robot of path planning |
| CN108790963B (en) * | 2018-06-12 | 2021-04-09 | 蚌埠学院 | Vehicle and ship seat with flexible buffer mechanism |
| CN108953903A (en) * | 2018-07-12 | 2018-12-07 | 北京交通大学 | A kind of four-degree-of-freedom parallel connection isolation mounting |
| CN112720422A (en) * | 2021-01-12 | 2021-04-30 | 山东理工大学 | Single-layer single-section guide rail type plane robot with double parallelograms |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1170658C (en) * | 2000-04-21 | 2004-10-13 | 清华大学 | Four-freedom parallel robot mechanism |
| US6581437B2 (en) * | 2000-05-12 | 2003-06-24 | Alberta Research Council Inc. | Motion platform and method of use |
| CN102085145B (en) * | 2010-11-29 | 2014-06-25 | 燕山大学 | Reconfigurable device for walking robot with four/two parallel legs |
| CN102645241A (en) * | 2012-04-17 | 2012-08-22 | 燕山大学 | Visual monitoring parallel tripod head |
| CN203093610U (en) * | 2013-03-14 | 2013-07-31 | 南安市益鑫机械制造有限公司 | Brick conveying machine walking wheel |
| CN104029196B (en) * | 2014-05-21 | 2016-03-02 | 燕山大学 | A kind of three rotate one moves symmetrical four-freedom parallel mechanism |
| CN104802151A (en) * | 2015-04-28 | 2015-07-29 | 上海大学 | Robot for carrying, assembling and moving heavy loads |
| CN105598978B (en) * | 2016-02-03 | 2017-08-15 | 许昌学院 | A kind of head massage machine people massage performs device based on hybrid connected structure |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20181008 Address after: 350200 21 Yang Yang Lane, Wu Hang, Changle, Fujian Applicant after: Lin Yanbin Address before: 246001 412, room 3, science and Technology Pioneer Park, 80 Tianzhu Hill Road, Anqing Development Zone, Anhui Applicant before: Anqing car industrial product design Co. Ltd. |
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Effective date of registration: 20181107 Address after: 350200 No. 115 ancestral Road, Yu Bei Village, Gu Huai Town, Changle, Fujian Applicant after: Liu Xiaolan Address before: 350200 21 Yang Yang Lane, Wu Hang, Changle, Fujian Applicant before: Lin Yanbin |
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Effective date of registration: 20200915 Address after: No.1, 4th floor, building a, No.88, Beijing East Road, Taicang Development Zone, Suzhou City, Jiangsu Province Patentee after: SUZHOU MULTITECH AUTOMATION EQUIPMENT Co.,Ltd. Address before: 350200 Fujian city of Changle province Huai Zhen Yu Bei Cun, CI Road No. 115 Patentee before: Liu Xiaolan |
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| TR01 | Transfer of patent right |