CN107717949A - Ground moving boosting manipulator - Google Patents
Ground moving boosting manipulator Download PDFInfo
- Publication number
- CN107717949A CN107717949A CN201711184406.XA CN201711184406A CN107717949A CN 107717949 A CN107717949 A CN 107717949A CN 201711184406 A CN201711184406 A CN 201711184406A CN 107717949 A CN107717949 A CN 107717949A
- Authority
- CN
- China
- Prior art keywords
- auxiliary
- connector
- ground moving
- principal arm
- arm bar
- 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
- 238000009434 installation Methods 0.000 claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 206010001541 Akinesia Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction 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
- B25J5/007—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
- B25J9/10—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
-
- 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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/146—Rotary actuators
Abstract
The present invention relates to a kind of ground moving boosting manipulator, including mobile base and the head tree for being arranged on mobile base top, head tree side connects control cabinet, opposite side connects host header, control cabinet bottom connects air accumulator, host header is sequentially connected auxiliary, principal arm bar and main balance cylinder from top to bottom, the other end installation connecting element one of auxiliary, the other end connection connector two of principal arm bar, the working end of main balance cylinder and connector one are connected with connector two, the connecting cantilever of connector one, installs fixture on cantilever.Robot manipulator structure of the present invention is reasonable in design; instant packed transport, in-site installation and later stage maintenance, and protect equipment outward appearance well and mitigate working strength when carrying assembling, simultaneously; manipulator movement carrying region is unrestricted, improves flexibility, the security of equipment operation.
Description
Technical field
The present invention relates to mobile manipulator field, and in particular to a kind of ground moving boosting manipulator.
Background technology
Existing ground moving boosting manipulator is made up of Robotic Host, air-path control system and frock clamp,
But the design of the main machine structure of manipulator is unreasonable, it is unfavorable for packed and transported and in-site installation, and the mobile transport operation in scene
Heaviness, operation difficulty are larger.
The content of the invention
It is an object of the invention to provide a kind of ground moving boosting manipulator, to solve machinery of the prior art
The problems such as hand packed and transported and in-site installation complex operation and scene movement transport operation difficulty.
The invention provides a kind of ground moving boosting manipulator, including mobile base and it is arranged on mobile base top
Head tree, head tree side connection control cabinet, opposite side connection host header, control cabinet bottom connection air accumulator, host header from
Top to bottm is sequentially connected auxiliary, principal arm bar and main balance cylinder, the other end installation connecting element one of auxiliary, the other end of principal arm bar
Connector two is connected, the working end of main balance cylinder and connector one are connected with connector two, the connecting cantilever of connector one, are hanged
Installs fixture on arm.
Further, preceding directional wheel, intermediate auxiliary wheel and rear universal wheel are installed in mobile base, installs and stops on rear universal wheel
Mechanism of car.
Further, auxiliary, principal arm bar and main balance cylinder are arranged in parallel, and auxiliary, principal arm bar are scalable knot
Structure.
Further, main control handrail is installed on head tree, sub-control handrail is installed on connector two.
Further, control button panel is set on connector two.
Further, auxiliary is connected by rotating mechanism with host header, and auxiliary is rotated horizontally 270 ° by rotating mechanism action.
Beneficial effect using the invention described above technical scheme is：
Robot manipulator structure of the present invention is reasonable in design, instant packed transport, in-site installation and later stage maintenance, and protects well
Working strength when assembling is carried in equipment outward appearance and mitigation, meanwhile, manipulator movement carrying region is unrestricted, improves equipment and grasps
The flexibility of work, security.
Brief description of the drawings
Fig. 1 is robot manipulator structure schematic diagram of the present invention；
In accompanying drawing, the list of parts representated by each label is as follows：
1- mobile bases, 2- head trees, 3- host headers, 4- air accumulators, 5- control cabinets, 6- principal arm bars, the main balance cylinders of 7-, 8- pairs
Arm, 9- main control handrails, 10- sub-control handrails, 11- control button panels, 12- fixtures, 13- connectors one, 14- connectors
Two, 15- cantilever, directional wheel before 16-, 17- intermediate auxiliary wheels, universal wheel after 18-.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, rather than whole embodiments.
As shown in figure 1, ground moving boosting manipulator of the present invention, including mobile base 1 and it is arranged on mobile base 1 and pushes up
The head tree 2 at end, the side of head tree 2 connection control cabinet 5, opposite side connection host header 3, the bottom of control cabinet 5 connection air accumulator 4,
Host header 3 is sequentially connected auxiliary 8, principal arm bar 6 and main balance cylinder 7, the other end installation connecting element one of auxiliary 8 from top to bottom
13, the other end of principal arm bar 6 connection connector 2 14, the working end of main balance cylinder 7 and connector 1 with connector two
14 connect, the connecting cantilever 15 of connector 1, installs fixture 12 on cantilever 15.Specifically, auxiliary 8, principal arm bar 6 and main Balance Air
Cylinder 7 is arranged in parallel, and auxiliary 8, principal arm bar 6 are Collapsible structure.In the embodiment, air accumulator 4 is controlling as source of the gas
Be that each part supply completes corresponding process under the control of case 5, the main action of balance cylinder 7 complete auxiliary 8, principal arm bar 6 it is flexible, when
After fixture 12 reaches specified location, gripping installation and the release process of workpiece are completed.In the course of work, control cabinet 5 is used as main body
Control system controls the work of each part, when main air supply source is surprisingly died, the akinesia of principal arm bar 6（Keep original posture not
Become）, manipulator stops operation, avoids unexpectedly injuring；That is, workpiece, which is not mounted to, is not confirmed to installation situation in operator
Before position, operator's maloperation release button, workpiece can not be unloaded, and prevent malfunction from being damaged to the person or workpiece.
In above-described embodiment, specifically, installing preceding directional wheel 16, intermediate auxiliary wheel 17 and rear universal wheel in mobile base 1
18, braking mechanism is installed on rear universal wheel 18；Main control handrail 9 is installed on head tree 2, sub-control is installed on connector 2 14 and helped
Hand 10；Control button panel 11 is set on connector 2 14；Auxiliary 8 is connected by rotating mechanism with host header 3, and rotating mechanism moves
Make auxiliary 8 rotating horizontally 270 °.
To sum up, robot manipulator structure of the present invention is reasonable in design, instant packed transport, in-site installation and later stage maintenance, and very
Good protecting equips outward appearance and mitigates working strength when carrying assembling, meanwhile, manipulator movement carrying region is unrestricted, carries
Flexibility, the security of equipment operation are risen.In addition, the manipulator has safety system, ensure personnel's safe operation.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, either which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (6)
1. a kind of ground moving boosting manipulator, including mobile base and the head tree for being arranged on the mobile base top,
Characterized in that, the head tree side connection control cabinet, opposite side connection host header, the control cabinet bottom connects gas storage
Tank, the host header are sequentially connected auxiliary, principal arm bar and main balance cylinder, the other end installation connection of the auxiliary from top to bottom
Part one, the other end connection connector two of the principal arm bar, the working end of the main balance cylinder and connector one are with being connected
Part two connects, the connecting cantilever of connector one, installs fixture on the cantilever.
2. ground moving boosting manipulator according to claim 1, it is characterised in that before being installed in the mobile base
Directional wheel, intermediate auxiliary wheel and rear universal wheel, it is described that braking mechanism is installed on universal wheel afterwards.
3. ground moving boosting manipulator according to claim 1, it is characterised in that the auxiliary, principal arm bar and master
Balance cylinder is arranged in parallel, and the auxiliary, principal arm bar are Collapsible structure.
4. ground moving boosting manipulator according to claim 1, it is characterised in that install master control on the head tree
Handrail processed, sub-control handrail is installed on the connector two.
5. ground moving boosting manipulator according to claim 1, it is characterised in that control is set on the connector two
Key panel processed.
6. ground moving boosting manipulator according to claim 1, it is characterised in that the auxiliary passes through rotating mechanism
It is connected with host header, auxiliary is rotated horizontally 270 ° by the rotating mechanism action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711184406.XA CN107717949A (en) | 2017-11-23 | 2017-11-23 | Ground moving boosting manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711184406.XA CN107717949A (en) | 2017-11-23 | 2017-11-23 | Ground moving boosting manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107717949A true CN107717949A (en) | 2018-02-23 |
Family
ID=61218963
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711184406.XA Pending CN107717949A (en) | 2017-11-23 | 2017-11-23 | Ground moving boosting manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107717949A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113172613A (en) * | 2021-05-18 | 2021-07-27 | 内蒙古艾能智控科技有限公司 | Spray pipe carrying manipulator |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1514832A1 (en) * | 2003-09-15 | 2005-03-16 | Jean-Marc Yerly | Lifting device |
| CN103495974A (en) * | 2013-10-08 | 2014-01-08 | 盐城市昱博自动化设备有限公司 | Intelligent 360-degree multi-dimensional mechanical arm of automobile equipment line |
| CN103495975A (en) * | 2013-10-08 | 2014-01-08 | 盐城市昱博自动化设备有限公司 | Automobile leaf spring carrying mechanical arm |
| CN104229468A (en) * | 2013-06-20 | 2014-12-24 | 盐城市昱博自动化设备有限公司 | Vacuum conveying manipulator |
| CN204195775U (en) * | 2014-07-10 | 2015-03-11 | 无锡宝莱机械设备科技有限公司 | A kind of boosting manipulator |
| CN206085049U (en) * | 2016-08-28 | 2017-04-12 | 深圳市劲拓自动化设备股份有限公司 | Omnidirectional movement formula power -assisted machine hand suitable for narrow and small space |
| CN207534792U (en) * | 2017-11-23 | 2018-06-26 | 苏州夏木自动化科技有限公司 | Ground moving boosting manipulator |
-
2017
- 2017-11-23 CN CN201711184406.XA patent/CN107717949A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1514832A1 (en) * | 2003-09-15 | 2005-03-16 | Jean-Marc Yerly | Lifting device |
| CN104229468A (en) * | 2013-06-20 | 2014-12-24 | 盐城市昱博自动化设备有限公司 | Vacuum conveying manipulator |
| CN103495974A (en) * | 2013-10-08 | 2014-01-08 | 盐城市昱博自动化设备有限公司 | Intelligent 360-degree multi-dimensional mechanical arm of automobile equipment line |
| CN103495975A (en) * | 2013-10-08 | 2014-01-08 | 盐城市昱博自动化设备有限公司 | Automobile leaf spring carrying mechanical arm |
| CN204195775U (en) * | 2014-07-10 | 2015-03-11 | 无锡宝莱机械设备科技有限公司 | A kind of boosting manipulator |
| CN206085049U (en) * | 2016-08-28 | 2017-04-12 | 深圳市劲拓自动化设备股份有限公司 | Omnidirectional movement formula power -assisted machine hand suitable for narrow and small space |
| CN207534792U (en) * | 2017-11-23 | 2018-06-26 | 苏州夏木自动化科技有限公司 | Ground moving boosting manipulator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113172613A (en) * | 2021-05-18 | 2021-07-27 | 内蒙古艾能智控科技有限公司 | Spray pipe carrying manipulator |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180223 |
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| WD01 | Invention patent application deemed withdrawn after publication |