CN108161924A - A kind of multi-purpose machine manual task equipment - Google Patents
A kind of multi-purpose machine manual task equipment Download PDFInfo
- Publication number
- CN108161924A CN108161924A CN201810152360.1A CN201810152360A CN108161924A CN 108161924 A CN108161924 A CN 108161924A CN 201810152360 A CN201810152360 A CN 201810152360A CN 108161924 A CN108161924 A CN 108161924A
- Authority
- CN
- China
- Prior art keywords
- rotating cylinder
- screen box
- manipulator
- ratchet
- rotation
- 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
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 244000309464 bull Species 0.000 claims description 17
- 238000007790 scraping Methods 0.000 claims description 12
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 9
- 230000007246 mechanism Effects 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 3
- 238000005406 washing Methods 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 5
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
-
- 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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B3/00—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements
- B05B3/02—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements with rotating elements
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of multi-purpose machine manual task equipment, including rack, the rack is equipped with mechanical arm, the mechanical arm connects robot device, the robot device includes the support plate being connected on mechanical arm, mounting hole is equipped in the middle part of the support plate, rotation is equipped with the first rotating cylinder in the mounting hole, rotation is equipped with manipulator rotating cylinder in first rotating cylinder, first rotating cylinder and manipulator rotating cylinder are located at the both sides of support plate, internal messing toothed type ratchet is equipped in first rotating cylinder, the one end of the manipulator rotating cylinder is connected with pawl by ratchet spring, the ratchet spring forces the pawl to be meshed with the internal messing toothed type ratchet and realizes single-direction transmission, the outer end face of first rotating cylinder is equipped with convex annular wheel face.The robot device of the present invention, makes rectangular slide bar that stroke variation occur by the rotation of manipulator rotating cylinder, and simple in structure so as to fulfill the conversion of mechanical finger function, reasonable design has practicability.
Description
Technical field
The present invention relates to mechanical work technical fields, and in particular to a kind of multi-purpose machine manual task equipment.
Background technology
At present, robot manipulator structure design is complicated, of high cost, needs to improve；In addition the spraying range of watering device it is small or
It is when reaching a wide range of sprinkling, needs not range transfer equipment, operation inconvenient.
Invention content
(1) technical problems to be solved
The technical problem to be solved in the present invention is to provide a kind of multi-purpose machine manual task equipment, to solve in the prior art
Robot manipulator structure design is complicated, of high cost, needs to improve；In addition the spraying range of watering device is small or is reaching big model
When enclosing sprinkling, need not range transfer equipment, the problem of operation is inconvenient.
(2) technical solution
In order to solve the above technical problems, the technical solution adopted in the present invention is：A kind of multi-purpose machine manual task equipment,
Including rack, the rack is equipped with mechanical arm, and the mechanical arm connects robot device, and the robot device includes connection
Mounting hole is equipped in the middle part of the support plate on mechanical arm, the support plate, rotation is described equipped with the first rotating cylinder in the mounting hole
Rotation is equipped with manipulator rotating cylinder in first rotating cylinder, and first rotating cylinder and manipulator rotating cylinder are located at the both sides of support plate, and described the
Internal messing toothed type ratchet is equipped in one rotating cylinder, the one end of the manipulator rotating cylinder is connected with pawl by ratchet spring, described
Ratchet spring forces the pawl to be meshed with the internal messing toothed type ratchet and realizes single-direction transmission, the outer end of first rotating cylinder
Face is equipped with convex annular wheel face, and the support plate is connected with rectangular sliding sleeve by strut, is slided in the rectangular sliding sleeve equipped with rectangular
Slide bar, the rectangular slide bar pass through the manipulator rotating cylinder, the glide direction of the rectangular slide bar and the axial direction of manipulator rotating cylinder
Parallel, one end of the rectangular slide bar is equipped with transverse support bar, and tension spring, institute are equipped between the transverse support bar and support plate
Transverse support bar is stated equipped with bar is supported, the bar of supporting is connected to by the active force of tension spring on convex annular wheel face always, described
It is set on the side adjacent with manipulator rotating cylinder in support plate there are two limiting steering column, the manipulator rotating cylinder is equipped with limit convex
Portion, the stopper protrusion can be resisted against two limiting steering columns during the manipulator drum rotation, so that the manipulator rotating cylinder
Angle of rotation be limited in the range of 130 °, the ratchet of the internal messing toothed type ratchet is laid with 3, the manipulator rotating cylinder
Rotation moves to next ratchet, the rotation of first rotating cylinder with pawl from a ratchet of the internal messing toothed type ratchet
Bar is supported by the drive of convex annular wheel face to move along supporting pole length direction；
Garbage sorting device is additionally provided in the rack, the garbage sorting device, which includes being set in rack, includes reciprocating sieve
Case and two crushers are provided with feed hopper at the top of the crusher, and the bottom of the crusher is provided with lower hopper, described
The lower hopper of crusher is connected to the top of vibrating screen box by canvas bag, and the outer wall of the vibrations screen box is provided with vibration electricity
Machine, the vibrations screen box is interior to be had there are two symmetrically arranged upper sieve plate and two symmetrically arranged lower sieve plates, the upper sieve plate
One end is fixed on the inner wall of vibrations screen box, and the other end is set obliquely, and one end of the lower sieve plate is fixed on vibrations screen box
Inner wall, the other end are set obliquely, and the lower edge of upper sieve plate is higher than the upper edge of lower sieve plate, and the vibrations screen box further includes
Scraping plate mechanism, the scraping plate mechanism are formed by scraping board motor, driving spindle and two scraper plates, and the board motor of scraping is arranged on two
Between a crusher, the output shaft for scraping board motor is sequentially connected with driving spindle, the driving spindle edge vibrations screen box
Axis is arranged in vibrations screen box, and described two scraper plates are separately fixed at the lower end and centre position of driving spindle, the vibrations
The bottom of screen box is provided with fine material outlet, and two lower sieve plate positions of side wall correspondence of the vibrations screen box are both provided with coarse fodder and go out
Mouthful.
It is additionally provided with watering device in the rack, the watering device includes the pedestal being set in rack, on the pedestal
The first angular wheel is connected with, the pedestal is additionally provided with first rotating shaft, the axis of the first rotating shaft and in the vertical direction
The axis of one angular wheel coincides, and the first rotating shaft is driven by the second motor to be rotated, the upper end of the first rotating shaft
It is connected with the first bull stick in the horizontal direction, the other end of first bull stick is rotated in the vertical direction equipped with second turn
Axis, the upper end of second shaft are installed with washing head, and the lower end of second shaft is installed with the second angular wheel, institute
The lower section for stating the first bull stick is connected with the second bull stick by the way that first support is parallel, and the one end of second bull stick is installed with third
Angular wheel to the first angular wheel is perpendicular engages, the other end of second bull stick, which is equipped with, is installed with the 4th taper
Gear to the second angular wheel is perpendicular engages.
(3) advantageous effect
The present invention is compared to the prior art, has the advantages that：
The robot device of the present invention makes rectangular slide bar that stroke variation occur by the rotation of manipulator rotating cylinder, so as to
Realize the conversion of mechanical finger function, simple in structure, reasonable design has practicability.The watering device of the present invention passes through smaller
Movement range realize large range of watering operation, operating environment is more adapted to this, avoids significantly moving during operation
The operation for causing other equipments as range is interfered, and also more conducively mechanical structure is laid out.
Description of the drawings
Fig. 1 is the layout of the present invention.
Fig. 2 is the stereogram of the robot device of the present invention.
Fig. 3 is the exploded view of the robot device of the present invention.
Fig. 4 is the structure chart of the manipulator rotating cylinder of the robot device of the present invention.
Fig. 5 is the structure chart of the first rotating cylinder of the robot device of the present invention.
Fig. 6 is the structure chart of the support plate of the robot device of the present invention.
Fig. 7 is the vertical view of the watering device of the present invention.
Fig. 8 is the stereogram of the watering device of the present invention.
Fig. 9 is the part-structure figure of the watering device of the present invention.
Figure 10 is the status diagram of the watering device of the present invention.
Figure 11 is the structure chart of the garbage sorting device of the present invention.
Specific embodiment
With reference to the accompanying drawings and embodiments, the specific embodiment of the present invention is described in further detail.Implement below
Example is used to illustrate the present invention, but be not limited to the scope of the present invention.
As shown in Figures 1 to 6, the present invention provides a kind of multi-purpose machine manual task equipment, including rack 100, the machine
Frame 100 is equipped with mechanical arm 11, and the mechanical arm 11 connects robot device 10, and the robot device 10 includes being connected to machine
Support plate 12 on tool arm 11,12 middle part of support plate are equipped with mounting hole 13, and rotation is equipped with first turn in the mounting hole 13
Cylinder 14, the interior rotation of first rotating cylinder 14 are equipped with manipulator rotating cylinder 15, and first rotating cylinder 14 and manipulator rotating cylinder 15 are located at branch
The both sides of fagging 12, the mounting hole 13, the first rotating cylinder 14, manipulator rotating cylinder 15 is are coaxially disposed, in first rotating cylinder 14
Equipped with internal messing toothed type ratchet 141, the one end of the manipulator rotating cylinder 15 is connected with pawl 17 by ratchet spring 16, described
Ratchet spring 16 forces the pawl 17 to be meshed with the internal messing toothed type ratchet 141 and realizes single-direction transmission, so that machine
After tool hand turn 15 turns over an angle, pawl 17 is engaged in internal meshing ratchet 141, and the outer end face of first rotating cylinder 14 is equipped with ring
Shape cam surface 142, the support plate 12 are connected with rectangular sliding sleeve 19, rectangular 19 and first rotating cylinder 14 of sliding sleeve by strut 18
It is slided set on the homonymy of support plate 12, in the rectangular sliding sleeve 19 and is equipped with rectangular slide bar 20, the rectangular slide bar 20 passes through described
Manipulator rotating cylinder 15, the glide direction of the rectangular slide bar 20 is parallel with the axial direction of manipulator rotating cylinder 15, the rectangular slide bar
20 one end is equipped with transverse support bar 21, and tension spring 22, the laterally branch are equipped between the transverse support bar 21 and support plate 12
Strut 21 is equipped with and supports bar 23, and the bar 23 of supporting is connected to by the active force of tension spring 22 on convex annular wheel face 142 always, institute
It is parallel with the axial direction of manipulator rotating cylinder 15 to state the setting direction for supporting bar 23, in the support plate 12 with 15 phase of manipulator rotating cylinder
It is set on adjacent side there are two limiting steering column 24, the manipulator rotating cylinder 15 is equipped with stopper protrusion 25, and the manipulator turns
The stopper protrusion 25 can be resisted against two limiting steering columns 24 when cylinder 15 rotates, so that the angle of rotation of the manipulator rotating cylinder 15
It is limited in the range of 130 °, the ratchet of the internal messing toothed type ratchet 141 is laid with 3, and the manipulator rotating cylinder 15 turns
It is dynamic to move to next ratchet, first rotating cylinder 14 from a ratchet of the internal messing toothed type ratchet 141 with pawl 17
Rotation support bar 23 by the drive of convex annular wheel face 142 and moved along pole length direction is supported, so as to drive rectangular 20 edge of slide bar
Rectangular sliding sleeve 19 moves, and has 3 positioning regions on convex annular wheel face for positioning rectangular slide bar.
The course of work of the robot device is as follows：Manipulator rotating cylinder 15 by manipulator motor it is (not shown) drive and
Realize positive and negative rotation, due to the limitation of two limiting steering columns, the angle of rotation of manipulator rotating cylinder 15 is limited in the range of 130 °, machine
Tool hand rotating cylinder only when rotation is abutted against to a wherein limiting steering column, just can make pawl 17 be engaged to internal messing toothed type ratchet
141, then the first rotating cylinder 14 can just be driven to rotate together, the first rotating cylinder will not be driven and rotate, first turn in the case of remaining
For cylinder 14 every time after 120 ° of rotation, relative motion will be occurred, therefore rectangular slide bar 20 can have with convex annular wheel face 142 by supporting bar 23
There are 3 movement travels, this 3 movement travels are transmitted to the mechanical finger (not shown) of end, there can be 3 specific actions
State, such as correspond to the expansion of mechanical finger, hold, clutch state, in each state, manipulator rotating cylinder 15 can be certain
Positive and negative rotation in angle, without the transformation of Crush trigger mobile phone state.
As shown in Fig. 1, Fig. 7 to Figure 10, watering device 40 is additionally provided in the rack 100, the watering device 40 includes
Pedestal 41 in rack 100 is connected with the first angular wheel 42 on the pedestal 41, and the pedestal 41 is in the vertical direction
First rotating shaft 43 is additionally provided with, the axis of the first rotating shaft 43 and the axis of the first angular wheel 42 coincide, described first turn
Axis 43 is rotated by the driving (not shown) of the second motor, and the upper end of the first rotating shaft 43 is connected with first in the horizontal direction
Bull stick 44, the other end of first bull stick 44 are rotated in the vertical direction equipped with the second shaft 45, second shaft 45
Upper end be installed with washing head 46, the lower end of second shaft 45 is installed with the second angular wheel 47, described first turn
The lower section of bar 44 is connected with the second bull stick 49 by the way that first support 48 is parallel, and the one end of second bull stick 49 is installed with third
Angular wheel 50 to the first angular wheel 42 is perpendicular engages, the other end of second bull stick 49, which is equipped with, is installed with the
Four angular wheels 51 to the second angular wheel 47 is perpendicular engages.When the second motor drives the first bull stick to turn over 90 °, spill
Head can complete 180 ° of steering, therefore realize large range of watering operation by smaller movement range, with this
Operating environment is more adapted to, avoids during operation that significantly actuating range causes the operation of other equipments to interfere, is also more conducive to
Mechanical structure is laid out.
As shown in Fig. 1 and Figure 11, garbage sorting device 70, the garbage sorting device 70 are additionally provided in the rack 100
Vibrations screen box 71 and two crushers 72, the top of the crusher 72 are provided with feed hopper including being set in rack 100
721, the bottom of the crusher 72 is provided with lower hopper 722, and the lower hopper 722 of the crusher 72 is connected by canvas bag 73
In the top of vibrating screen box 71, the outer wall of the vibrations screen box 71 is provided with vibrating motor 74, has in the vibrations screen box 71
Two symmetrically arranged upper sieve plates 75 and two symmetrically arranged lower sieve plates 76, one end of the upper sieve plate 75 is fixed on reciprocating sieve
The inner wall of case 71, the other end are set obliquely, and one end of the lower sieve plate 76 is fixed on the inner wall of vibrations screen box 71, another
End is set obliquely, and the lower edge of upper sieve plate 75 is higher than the upper edge of lower sieve plate 76, and the vibrations screen box 71 further includes scraper plate
Mechanism, the scraping plate mechanism are formed by scraping board motor 77, driving spindle 78 and two scraper plates 79, and the board motor 77 of scraping is set
Between two crushers 72, the output shaft for scraping board motor 77 is sequentially connected with driving spindle 78, the driving spindle 78
It is arranged in vibrations screen box 71 along the axis of vibrations screen box 71, described two scraper plates 79 are separately fixed at the lower end of driving spindle 78
And centre position, the bottom of the vibrations screen box 71 are provided with fine material outlet 80, the side wall of the vibrations screen box 71 corresponds to two
Lower 76 position of sieve plate is both provided with coarse fodder outlet 81.The garbage sorting device can carry out sorting operation to rubbish, have environmental protection
Property.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvements and modifications can also be made, these improvements and modifications
Also it should be regarded as protection scope of the present invention.
Claims (2)
1. a kind of multi-purpose machine manual task equipment, including rack, which is characterized in that the rack is equipped with mechanical arm, described
Mechanical arm connects robot device, and the robot device includes the support plate being connected on mechanical arm, the support plate middle part
Equipped with mounting hole, equipped with the first rotating cylinder, the interior rotation of first rotating cylinder is equipped with manipulator rotating cylinder, described for rotation in the mounting hole
First rotating cylinder and manipulator rotating cylinder are located at the both sides of support plate, and internal messing toothed type ratchet, the machine are equipped in first rotating cylinder
The one end of tool hand rotating cylinder is connected with pawl by ratchet spring, and the ratchet spring forces the pawl and the internal messing tooth
Formula ratchet, which is meshed, realizes single-direction transmission, and the outer end face of first rotating cylinder is equipped with convex annular wheel face, and the support plate passes through branch
Bar is connected with rectangular sliding sleeve, is slided in the rectangular sliding sleeve and is equipped with rectangular slide bar, and the rectangular slide bar turns across the manipulator
Cylinder, the glide direction of the rectangular slide bar is parallel with the axial direction of manipulator rotating cylinder, and one end of the rectangular slide bar is equipped with laterally
Supporting rod is equipped with tension spring between the transverse support bar and support plate, the transverse support bar is equipped with and supports bar, described to support
Bar is connected to by the active force of tension spring on convex annular wheel face always, is set on the side adjacent with manipulator rotating cylinder in the support plate
There are two limiting steering column, the manipulator rotating cylinder is equipped with stopper protrusion, the limit convex during manipulator drum rotation
Portion can be resisted against two limiting steering columns so that the angle of rotation of the manipulator rotating cylinder is limited in the range of 130 °, it is described in nibble
The ratchet for closing toothed type ratchet is laid with 3, and the rotation band pawl of the manipulator rotating cylinder is from the internal messing toothed type ratchet
A ratchet move to next ratchet, the rotation of first rotating cylinder supports bar along supporting bar by the drive of convex annular wheel face
Length direction moves；
Be additionally provided with garbage sorting device in the rack, the garbage sorting device include being set on include in rack vibrations screen box and
Two crushers are provided with feed hopper at the top of the crusher, and the bottom of the crusher is provided with lower hopper, described broken
The lower hopper of machine is connected to the top of vibrating screen box by canvas bag, and the outer wall of the vibrations screen box is provided with vibrating motor, institute
Symmetrically arranged upper sieve plate and two symmetrically arranged lower sieve plates there are two having in vibrations screen box are stated, one end of the upper sieve plate is consolidated
The inner wall of vibrations screen box is scheduled on, the other end is set obliquely, and one end of the lower sieve plate is fixed on the inner wall of vibrations screen box,
The other end is set obliquely, and the lower edge of upper sieve plate is higher than the upper edge of lower sieve plate, and the vibrations screen box further includes scrapper conveyor
Structure, the scraping plate mechanism are formed by scraping board motor, driving spindle and two scraper plates, it is described scrape board motor be arranged on two it is broken
Between machine, the output shaft for scraping board motor is sequentially connected with driving spindle, and the driving spindle is set along the axis of vibrations screen box
It puts in vibrations screen box, described two scraper plates are separately fixed at the lower end and centre position of driving spindle, the vibrations screen box
Bottom is provided with fine material outlet, and the side wall of the vibrations screen box corresponds to two lower sieve plate positions and is both provided with coarse fodder outlet.
2. rack according to claim 1, which is characterized in that watering device, the watering dress are additionally provided in the rack
The pedestal including being set in rack is put, the first angular wheel is connected on the pedestal, the pedestal is also set in the vertical direction
There is first rotating shaft, the axis of the first rotating shaft and the axis of the first angular wheel coincide, and the first rotating shaft passes through second
Motor driving rotation, the upper end of the first rotating shaft are connected with the first bull stick in the horizontal direction, first bull stick it is another
One end is rotated in the vertical direction equipped with the second shaft, and the upper end of second shaft is installed with washing head, and described second
The lower end of shaft is installed with the second angular wheel, and the lower section of first bull stick is connected with second turn by the way that first support is parallel
Bar, the one end of second bull stick be installed with third angular wheel to the first angular wheel is perpendicular engages, described
The other end of two bull sticks be equipped be installed with the 4th angular wheel to the second angular wheel is perpendicular engages.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810152360.1A CN108161924A (en) | 2018-02-14 | 2018-02-14 | A kind of multi-purpose machine manual task equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810152360.1A CN108161924A (en) | 2018-02-14 | 2018-02-14 | A kind of multi-purpose machine manual task equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108161924A true CN108161924A (en) | 2018-06-15 |
Family
ID=62510567
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810152360.1A Pending CN108161924A (en) | 2018-02-14 | 2018-02-14 | A kind of multi-purpose machine manual task equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108161924A (en) |
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