CN107671834A - Complete intelligent heavy mechanical hand - Google Patents
Complete intelligent heavy mechanical hand Download PDFInfo
- Publication number
- CN107671834A CN107671834A CN201710878026.XA CN201710878026A CN107671834A CN 107671834 A CN107671834 A CN 107671834A CN 201710878026 A CN201710878026 A CN 201710878026A CN 107671834 A CN107671834 A CN 107671834A
- Authority
- CN
- China
- Prior art keywords
- walking dolly
- mounting seat
- crane span
- span structure
- wheel
- 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.)
- Pending
Links
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 5
- 239000010959 steel Substances 0.000 claims abstract description 5
- 238000003466 welding Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance 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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
- B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C11/00—Trolleys or crabs, e.g. operating above runways
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
- B66C17/06—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports specially adapted for particular purposes, e.g. in foundries, forges; combined with auxiliary apparatus serving particular purposes
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention is complete intelligent heavy mechanical hand, and it realizes work in the form of truss and walking dolly cooperate, and it includes door frame, crane span structure and the walking dolly slided on crane span structure.Walking dolly operation wheel master end is provided with gear, and corresponding guide rail upper side is provided with horizontal rack, and described gear and rack intermeshing, described gear are driven by motor；Manipulator mounting seat is decussate texture, and manipulator mounting seat is provided with front and rear symmetrical two guide pillars, and corresponding position sets corresponding positioning tube on walking dolly, and walking dolly carries out the positioning of vertical direction by guide pillar and positioning tube；It can ensure to be arranged on and grab accurate hand positioning in mounting seat, be easy to handgrip to be accurately operated, avoid and caused error is rocked in the lifting mode of traditional independent steel cable type.
Description
Technical field
The present invention relates to the hanging device of manipulator, specifically complete intelligent heavy mechanical hand.
Background technology
Mechanical gripper is a kind of equipment captured using the apish hand of mechanical part to material, and it is applied primarily to
The comparatively severe place of some operating modes, the stronger place such as high temperature, high pressure, corrosivity, for replacing manually realizing material
The operation such as crawl, it not only can effectively avoid the severe operating mode of human contact, meanwhile, the crawl amount of manipulator, precision,
More manually carried or the operation of common robotic arm has great lifting in operating efficiency.
Manipulator at this stage is more to be supported using mechanical arm, i.e., connects handgrip in the end of mechanical arm, pass through
The movement of mechanical arm and the grasping manipulation of mechanical gripper are realized in the cooperation of hydraulic jack, and he has the drawbacks of certain, mechanical arm institute
The weight that can be carried is smaller, and is typically mostly the working method of point-to-point type using mechanical arm operation, in a workflow
It is interior to need the collaboration of multiple mechanical arms to carry out operations, and independently of each other and complete respective operating mode, such side between each mechanical arm
Face adds cost input, is on the other hand not easy to the maintenance to equipment.
The content of the invention
The present invention is complete intelligent heavy mechanical hand, and it realizes work in the form of truss and walking dolly cooperate,
Realize walking dolly multiple spot be accurately positioned and to manipulator lifting operation, it is poor to cannot only be applied to various working
Place, while there is high flexibility, the work of diversified forms can be completed.
The present invention realizes that above-mentioned purpose uses following technical scheme：
Complete intelligent heavy mechanical hand, it includes door frame, crane span structure and the walking dolly slided on crane span structure.
Described door frame is the frame like structure of cuboid, and door frame top is front and rear to be provided with the slideway being parallel to each other, described bridge
Frame is rectangular frame structure, and the front and rear of crane span structure bottom is respectively equipped with the pulley corresponding with slideway, and crane span structure is existed by pulley
Slid laterally on door frame；Guide rail is respectively arranged on the left side and the right side on crane span structure, walking dolly bottom both sides are respectively equipped with and guide rail
Corresponding operation wheel, walking dolly carry out longitudinal sliding motion by operation wheel on crane span structure；
Walking dolly operation wheel master end is provided with gear, and corresponding guide rail upper side is provided with horizontal rack, described
Gear and rack intermeshing, described gear driven by motor；
The side of walking dolly is provided with electric control cabinet, is provided with lifting mechanism at the center of walking dolly, capstan winch bottom leads to
Cross cable wire and be connected with manipulator mounting seat.
Described manipulator mounting seat is decussate texture, and manipulator mounting seat is provided with front and rear symmetrical two guide pillars,
Corresponding position sets corresponding positioning tube on walking dolly, and walking dolly carries out determining for vertical direction by guide pillar and positioning tube
Position；Manipulator mounting seat is provided with symmetrical two sets of guide wheels；Lifting mechanism includes capstan winch, motor and installed in capstan winch
On cable wire；The both ends of cable wire on lifting mechanism are separately fixed at the left and right sides of capstan winch, are passed through at the center of cable wire symmetrical
The two sets of guide wheels set.
Described positioning tube and guide pillar are the square structure to cooperate, and the side of positioning tube four is respectively equipped with the guide pillar to inside
The rubber wheel positioned, the corresponding positioning barrel of rubber wheel are provided with the slotted eye passed through for rubber wheel, described rubber wheel
It is supported respectively by wheel carrier.
Described walking dolly includes some horizontal and vertical poles and is connected with each other to form, horizontal and vertical pole it
Between be connected with each other by bolt；Described manipulator mounting seat is formed by connecting by horizontal and vertical pole is mutually interspersed,
It is provided with the face size of the pole of guide wheel and length is less than the pole of connection guide pillar.
The present invention is had the advantages that using above-mentioned technical proposal：
The four-way movement and lifting for realizing mechanical gripper mounting seat are collocated with each other using truss and walking dolly, ensure that peace
The works fine that the flexibility ratio of dress seat is mechanical gripper in mounting seat provides good support.
It is in the fit system of right-angled intersection between guide pillar and two guide wheels, the steady of mounting seat can be ensured to a certain extent
Qualitative, collocation positioner is used, it is ensured that is grabbed accurate hand positioning in mounting seat, is easy to handgrip accurate
It is operated, avoids and caused error is rocked in the lifting mode of traditional independent steel cable type.
The form fixed between the horizontal and vertical support of walking dolly by grafting and bolt, it ensure that dolly entirety
Fastness and stability, it is more firm compared to the connected mode of welding, and it is easy to the dismounting of dolly.
Brief description of the drawings
Fig. 1 is the front view of the present invention.
Fig. 2 is the side view of the present invention.
Fig. 3 is the top view of the present invention.
Fig. 4 is manipulator mounting seat and the connection diagram of lifting mechanism.
The structural representation that Fig. 5 cooperates between guide pillar and positioning tube.
Embodiment
The present invention will be further described with reference to the accompanying drawings and examples.
Complete intelligent heavy mechanical hand, it includes door frame 1, crane span structure 2 and the walking dolly 3 slided on crane span structure 2.
Described door frame 1 is the frame like structure of cuboid, and the top of door frame 1 is front and rear provided with the slideway being parallel to each other, described
Crane span structure 2 is rectangular frame structure, and the front and rear of the bottom of crane span structure 2 is respectively equipped with the pulley corresponding with slideway, and crane span structure 2 passes through cunning
Wheel is slid laterally on door frame 1；Guide rail is respectively arranged on the left side and the right side on crane span structure 2, the bottom both sides of walking dolly 3 are respectively equipped with
The operation wheel corresponding with guide rail, walking dolly carry out longitudinal sliding motion by operation wheel on crane span structure 2；
The operation wheel side of walking dolly 3 is provided with gear, and corresponding guide rail upper side is provided with horizontal rack, described
Gear and rack intermeshing, described gear driven by motor；
The side of walking dolly 3 is provided with electric control cabinet 5, and lifting mechanism 4, lifting machine are provided with the center of walking dolly 3
The bottom of structure 4 is connected with manipulator mounting seat 6 by cable wire.
Described manipulator mounting seat 6 is decussate texture, and manipulator mounting seat 6 is provided with front and rear symmetrical two guide pillars
601, corresponding position sets corresponding positioning tube 602 on walking dolly 3, and walking dolly 3 passes through guide pillar 601 and positioning tube 602
Carry out the positioning of vertical direction；Manipulator mounting seat 6 is provided with two sets of guide wheels 7, and two sets of guide wheels 7 are mutually right centered on guide pillar
Claim；As shown in figure 4, lifting mechanism 4 includes capstan winch 401, motor and the cable wire 402 on capstan winch 401, capstan winch 401
Center at correspond to described guide pillar 601；The both ends of cable wire 402 on lifting mechanism 4 are separately fixed at the left and right two of capstan winch
Side, symmetrically arranged two sets of guide wheels 7 are passed through at the center of cable wire.
As shown in figure 5, described positioning tube 602 and guide pillar 601 are the square structure to cooperate, the side of positioning tube 602 4
The rubber wheel 603 positioned to the guide pillar 601 of inside is respectively equipped with, the corresponding wall of positioning tube 602 of rubber wheel 603 is provided with
The slotted eye passed through for rubber wheel, described rubber wheel 603 are supported by wheel carrier 604 respectively.
Described walking dolly 3 includes some horizontal and vertical poles interconnections and formed, horizontal and vertical pole
Between be connected with each other by bolt；Described manipulator mounting seat 6 by the mutually interspersed connection of horizontal and vertical pole and
Into the face size and length for being provided with the pole of guide wheel are less than the pole for connecting guide pillar.
In present embodiment, door frame is fixed to corresponding station, is fixed, and the concrete structure and size of door frame can roots
It is adjusted according to being actually needed, crane span structure carries out horizontal movement on door frame top, and the shifting of longitudinal direction is carried out on the crane span structure of walking dolly
It is dynamic, walking dolly is done the accurate walking positioning of four direction all around in the range of door frame.
Walking dolly is mutually inserted using horizontal and vertical pole, is then fixed by bolt, compared to
For the connected mode of traditional welding, have many preferential, first, this kind of connected mode is easy to the installation of product and defeated
Send, certain space can be saved during transport, secondly, the connectivity robustness of this kind of connected mode is more preferable, welding
Mode needs have higher technical requirement to operator, and occurs being not easy to realize in time during hidden danger, and bolt connection obtain it is firm
Solidity is high, requires relatively low to the technical of setter, these are present apparatus possessed advantages.
It is in decussate texture that mechanical gripper mounting seat is mutually interspersed using horizontal and vertical pole, and is carried out by bolt
Fixed, mounting seat sets steel cable drag-line respectively integrally in symmetrical form all around on the direction all around then
And guide pillar, good positioning action can be played to mounting seat, steel cable uses the form of biaxial tension, the setting pair in mounting seat
Two guide wheels claimed are stretched, the common guarantee stability of mounting seat in the vertical direction.
For the present apparatus during actual use, corresponding position sets alignment sensor on device, thus can be real
Existing multiple spot is accurately positioned, and is that the displacement of manipulator mounting seat front and rear six direction up and down can be accurately controlled, can
To avoid error caused by the rocking of wirerope in actual use, accurate positioning, meanwhile, carrying out operation using the present apparatus can be complete
Instead of the working method of multiple mechanical arms, the progress of workflow is set to be fully achieved under the drive of the present apparatus.
Claims (4)
1. complete intelligent heavy mechanical hand, it includes door frame, crane span structure and the walking dolly slided on crane span structure, it is characterised in that：Institute
The door frame stated is the frame like structure of cuboid, and door frame top is front and rear to be provided with the slideway being parallel to each other, and described crane span structure is rectangle
Frame structure, the front and rear of crane span structure bottom be respectively equipped with the pulley corresponding with slideway, and crane span structure is carried out by pulley on door frame
Slide laterally；Guide rail is respectively arranged on the left side and the right side on crane span structure, walking dolly bottom both sides are respectively equipped with the fortune corresponding with guide rail
Driving wheel, walking dolly carry out longitudinal sliding motion by operation wheel on crane span structure；
Walking dolly operation wheel master end is provided with gear, and corresponding guide rail upper side is provided with horizontal rack, described tooth
Wheel and rack intermeshing, described gear are driven by motor；
The side of walking dolly is provided with electric control cabinet, is provided with lifting mechanism at the center of walking dolly, capstan winch bottom passes through steel
Rope is connected with manipulator mounting seat.
2. complete intelligent heavy mechanical hand according to claim 1, it is characterised in that：Described manipulator mounting seat is cross
Shape structure, manipulator mounting seat are provided with front and rear symmetrical two guide pillars, and corresponding position setting is corresponding fixed on walking dolly
Position cylinder, walking dolly carry out the positioning of vertical direction by guide pillar and positioning tube；Manipulator mounting seat is provided with symmetrical
Two sets of guide wheels；
Lifting mechanism includes capstan winch, motor and the cable wire on capstan winch；
The both ends of cable wire on lifting mechanism are separately fixed at the left and right sides of capstan winch, are passed through at the center of cable wire symmetrically arranged
Two sets of guide wheels.
3. complete intelligent heavy mechanical hand according to claim 2, it is characterised in that：Described positioning tube and guide pillar is mutual
The square structure of cooperation, the side of positioning tube four are respectively equipped with the rubber wheel positioned to the guide pillar of inside, and rubber wheel is corresponding
Positioning barrel is provided with the slotted eye passed through for rubber wheel, and described rubber wheel is supported by wheel carrier respectively.
4. complete intelligent heavy mechanical hand according to claim 3, it is characterised in that：Described walking dolly includes some horizontal strokes
It is connected with each other and forms to the pole with longitudinal direction, is connected with each other between horizontal and vertical pole by bolt；Described machine
Tool hand mounting seat is formed by connecting by horizontal and vertical pole is mutually interspersed, is provided with the face size and length of the pole of guide wheel
Less than the pole of connection guide pillar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710878026.XA CN107671834A (en) | 2017-09-26 | 2017-09-26 | Complete intelligent heavy mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710878026.XA CN107671834A (en) | 2017-09-26 | 2017-09-26 | Complete intelligent heavy mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107671834A true CN107671834A (en) | 2018-02-09 |
Family
ID=61137210
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710878026.XA Pending CN107671834A (en) | 2017-09-26 | 2017-09-26 | Complete intelligent heavy mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107671834A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544469A (en) * | 2018-04-27 | 2018-09-18 | 王承辉 | The three dimensions walking mechanism of agricultural manipulator |
| CN108726386A (en) * | 2018-08-08 | 2018-11-02 | 河南东起机械有限公司 | Multi-functional truss handling station |
| CN109822310A (en) * | 2019-02-12 | 2019-05-31 | 合肥市春华起重机械有限公司 | A kind of Relining manipulator portal structure |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ATA221085A (en) * | 1985-07-25 | 1987-01-15 | Simmering Graz Pauker Ag | INDUSTRIAL ROBOT |
| JPH1111856A (en) * | 1997-06-17 | 1999-01-19 | Hitachi Kiden Kogyo Ltd | Overhead crane |
| CN101456227A (en) * | 2007-12-12 | 2009-06-17 | 杨霞 | Movable tire vulcanization automated device |
| DE102012006180A1 (en) * | 2012-03-27 | 2013-10-02 | EcoEnterprises GmbH | Device for manufacturing of very large, heavy steel component for use in e.g. shipbuilding, has positioning and joining robots and lifting device that are respectively controlled by control console, to control human-robot cooperation |
| CN103406899A (en) * | 2013-08-19 | 2013-11-27 | 长沙远大住宅工业有限公司 | Automatic die setting manipulator |
| CN204566126U (en) * | 2015-01-28 | 2015-08-19 | 广东科达洁能股份有限公司 | A kind of high accuracy truss-like gantry manipulator |
| RU2563926C1 (en) * | 2014-07-18 | 2015-09-27 | Борис Аркадьевич Соловьев | Service lifter |
| CN206326598U (en) * | 2016-12-28 | 2017-07-14 | 法博智能装备工程（常州）有限公司 | Gantry robot |
| CN207172053U (en) * | 2017-09-26 | 2018-04-03 | 河南东起机械有限公司 | Complete intelligent heavy mechanical hand |
-
2017
- 2017-09-26 CN CN201710878026.XA patent/CN107671834A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ATA221085A (en) * | 1985-07-25 | 1987-01-15 | Simmering Graz Pauker Ag | INDUSTRIAL ROBOT |
| JPH1111856A (en) * | 1997-06-17 | 1999-01-19 | Hitachi Kiden Kogyo Ltd | Overhead crane |
| CN101456227A (en) * | 2007-12-12 | 2009-06-17 | 杨霞 | Movable tire vulcanization automated device |
| DE102012006180A1 (en) * | 2012-03-27 | 2013-10-02 | EcoEnterprises GmbH | Device for manufacturing of very large, heavy steel component for use in e.g. shipbuilding, has positioning and joining robots and lifting device that are respectively controlled by control console, to control human-robot cooperation |
| CN103406899A (en) * | 2013-08-19 | 2013-11-27 | 长沙远大住宅工业有限公司 | Automatic die setting manipulator |
| RU2563926C1 (en) * | 2014-07-18 | 2015-09-27 | Борис Аркадьевич Соловьев | Service lifter |
| CN204566126U (en) * | 2015-01-28 | 2015-08-19 | 广东科达洁能股份有限公司 | A kind of high accuracy truss-like gantry manipulator |
| CN206326598U (en) * | 2016-12-28 | 2017-07-14 | 法博智能装备工程（常州）有限公司 | Gantry robot |
| CN207172053U (en) * | 2017-09-26 | 2018-04-03 | 河南东起机械有限公司 | Complete intelligent heavy mechanical hand |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544469A (en) * | 2018-04-27 | 2018-09-18 | 王承辉 | The three dimensions walking mechanism of agricultural manipulator |
| CN108726386A (en) * | 2018-08-08 | 2018-11-02 | 河南东起机械有限公司 | Multi-functional truss handling station |
| CN109822310A (en) * | 2019-02-12 | 2019-05-31 | 合肥市春华起重机械有限公司 | A kind of Relining manipulator portal structure |
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