CN108436941A - Curling stone robot - Google Patents
Curling stone robot Download PDFInfo
- Publication number
- CN108436941A CN108436941A CN201810446363.6A CN201810446363A CN108436941A CN 108436941 A CN108436941 A CN 108436941A CN 201810446363 A CN201810446363 A CN 201810446363A CN 108436941 A CN108436941 A CN 108436941A
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- China
- Prior art keywords
- curling stone
- arm
- support plate
- curling
- stone
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The invention discloses a kind of curling stone robots, it maintains machinery people including curling stone transfer robot and curling stone, curling stone transfer robot is collected and carries to curling stone on curling stone field first, curling stone transfer robot captures curling stone and is transported to curling stone and maintains machinery people, in curling stone maintains machinery people, curling stone is received and transmitted by hatch door conveyer, quality testing is carried out by industry CT detecting system, then by lifting manipulator of the cooperation of conveyer and sucker rotating arm by curling stone bottom-exposed to execution maintenance process, switch the position of curling stone under the rotation driving of turntable, make curling stone bottom successively with scouring, waxing, baking, gas nitrogen cools down, the contact of the manipulators such as polishing, realize the profession maintenance of curling stone.The carrying and maintenance of curling stone can be transformed into mechanical automation from manual operation and carried out, no longer needed to ask professional, facilitate the maintenance of curling stone, can extend the service life of curling stone, be preferably curling service using the curling stone robot.
Description
Technical field
The present invention relates to robotic technology fields, more particularly to a kind of curling stone robot.
Background technology
Curling stone (Curling) is a kind of throwing sports carried out on ice as unit of team, Winter Olympic Games game item
Mesh, and it is equipped with curling stone World Championships.If 2 events of men and women, every team is four people.Curling stone is circle gyalectiform, by not micaceous Scotland
Natural granite is made, and the natural granite of the high-quality curling stones of manufacture all in the world originates from one of Scotland coastal waters
Island, also only Scotsman knows the technology for making the top horizontal curling stone in the world.Curling stone perimeter is about 91.44 centimetres, high
11.43 centimetres of (from the bottom of pot to top), weight (including pot handle and pot bolt) are up to 19.96 kilograms.Brush ice is to subtract
It rubs between small curling stone and ice face.Curling stone is referred to as " chess on ice " by someone, this metaphor has annotated the god of curling stone well
It is secret with it is graceful.
Nineteen twenty-four, curling stone are exposed in the form of demonstration event in Winter Olympic Games for the first time.International curling joint in 1966
It can set up, be changed within 1991 curling federation of the world, while obtaining Recognition by the IOC.Curling once in
Nineteen twenty-four, 1932,1936,1964, are listed in Winter Olympic Games demonstration event 1992 6 times at nineteen sixty-eight.1993 international difficult to understand
Committee can determine that since 1998, curling was classified as Winter Olympic Games medal sport.In Asia, curling stone is from the 5th sub- winter
It can start to be classified as medal sport.
As other sports equipments, curling stone is also required to frequent maintenance and maintenance, but the maintenance of curling stone needs professional people
Member carries out, it is desirable that and harsh, step is complicated, in addition most of sportsmen and coach lack the knowledge and consciousness of maintenance and repair,
Cause the reduced service life of curling stone.
Invention content
It is an object of the invention to propose that a kind of curling stone robot extends curling stone preferably to maintain curling stone
Service life.
A kind of curling stone robot, including curling stone transfer robot and curling stone maintain machinery people, the curling stone transfer robot
Mechanical arm including chassis, on the chassis and the running gear mounted on the chassis surrounding, the chassis
Front is equipped with camera identifying system, and the camera identifying system for curling stone to be identified, hang by the mechanical arm connection
Pawl is inhaled in ear, lifting lug connection, the suctions pawl for capturing curling stone, the curling stone maintain machinery people include shell, be set to described in
The hatch door conveyer of shell exterior, the hatch door conveyer are used to the curling stone that the curling stone transfer robot is carried being sent to institute
State the inside of shell, the top of the hatch door conveyer is equipped with industry CT detecting system, the industry CT detecting system for pair
Curling stone is detected, and the shell is internally provided with bottom hold-down support, and the bottom hold-down support is equipped with support plate, described
Damping wheel is equipped between support plate and the bottom hold-down support, the support plate is equipped with lifting conveyer, turntable, sucker
Rotating arm cleans manipulator, waxing manipulator, baking manipulator, gas nitrogen cooling manipulator, polishing mechanical hand, and the lifting passes
Machine is sent to be docked with the hatch door conveyer, the lifting conveyer is located between two turntables, the sucker rotating arm
Set on the surface of the lifting conveyer, the sucker rotating arm is carried out for curling stone to be sucked centered on a support shaft
Rotation, makes curling stone bottom be contacted with each manipulator.
It is that curling stone transfer robot receives curling stone on curling stone field first according to curling stone robot proposed by the present invention
It collection and carries, curling stone transfer robot can capture curling stone and be transported to curling stone and maintain machinery people, in curling stone maintains machinery people, lead to
It crosses hatch door conveyer curling stone is received and transmitted, industry CT detecting system can be passed through on the way, quality testing is carried out to curling stone,
Then curling stone bottom-exposed is maintained to the machinery of process by the cooperation of internal lifting conveyer and sucker rotating arm to execution
Hand, turntable rotation driving under switch curling stone position, make curling stone bottom successively with clean manipulator, waxing manipulator,
Manipulator, gas nitrogen cooling manipulator, polishing mechanical hand contact are toasted, realizes the professional maintenance of curling stone.Using the curling stone machine
The maintenance of curling stone is transformed into mechanical digitalization automation progress by people with maintenance from professional artificial Operation and Maintenance maintenance, no longer needs to ask
Professional maintains curling stone, facilitates the maintenance of curling stone, can extend the service life of curling stone, is preferably transported for curling stone
Dynamic service.
In addition, according to curling stone robot provided by the invention, there can also be following additional technical characteristic：
Further, the mechanical arm includes the first sub- arm and the second sub- arm, the first sub- arm and the described second sub- arm
Flexible connection, the chassis are flexibly connected with the described first sub- arm, and the second sub- arm is hung by balanced connecting rod mechanism with described
Ear connects, and the first cylinder, the first sub- arm and the chassis are equipped between the balanced connecting rod mechanism and the second sub- arm
Between be equipped with the second cylinder, be equipped with third cylinder between the second sub- arm and the chassis, the lifting lug and the suction pawl it
Between be equipped with the 4th cylinder.
Further, the running gear uses Mecanum wheel, each Mecanum wheel to be equipped with a two level
Spur gear wheel reduction box, and four Mecanum wheels are controlled by respective motor respectively.
Further, the hatch door conveyer includes supporting rack, and support frame as described above is equipped with outer conveyor belt, the support
The bottom of frame connects undercarriage, and the 5th cylinder and the 6th cylinder, the support are equipped between support frame as described above and the undercarriage
The one end of frame far from the shell connects idler wheel, and the 7th cylinder is equipped between support frame as described above and the idler wheel.
Further, the lifting conveyer includes lifting support plate, and the lifting support plate is mounted on the support plate
On, the lifting support plate is equipped with elevator scissors strut, motor and lead screw, the elevator scissors strut and the lifting
Support plate is slidably connected, and the elevator scissors strut is equipped with internal conveyer belt, the internal conveyer belt and the external biography
Band is sent to dock.
Further, the motor uses stepper motor.
Further, the sucker rotating arm includes sucker and the support arm set on the sucker both sides, the sucker with
The support arm rotation connection, the sucker can be rotated centered on tie point of the sucker with the support arm, the suction
Disk is connect with the support arm by lifting slider.
Further, the bottom fixed support plate and the support plate are rounded, and the quantity of the turntable is 5
A, 5 turntables are evenly distributed in the support plate.
Further, the turntable is equipped with air inlet and air reservoir, and the centre of the support plate is equipped with machinery by hand
Make platform mounting column, the bottom of the robot work platform mounting column is fixed on the bottom fixed support plate, the machine
Tool hand workbench mounting column passes through the support plate, the scouring manipulator, the waxing manipulator, baking machinery
Hand, the gas nitrogen cooling manipulator, the polishing mechanical hand are fixed on the bottom by the robot work platform mounting column
On layer fixed support plate.
Further, the first driving gear is equipped between the bottom fixed support plate and the support plate and with described the
Second driving gear of one driving gear cooperation, the first driving gear and the second driving gear are for driving described subtract
The rotary motion centered on the center of circle of the bottom fixed support plate of shake wheel.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obviously, or practice through the invention is recognized.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination following accompanying drawings to embodiment
Obviously and it is readily appreciated that, wherein：
Fig. 1 is the structural schematic diagram of the curling stone robot of one embodiment of the invention；
Fig. 2 is the structural schematic diagram of curling stone transfer robot in Fig. 1；
Fig. 3 is that curling stone maintains machinery the structural schematic diagram of people (removing shell) in Fig. 1；
Fig. 4 is the structural schematic diagram of hatch door conveyer in Fig. 3；
Fig. 5 is the structural schematic diagram of sucker rotating arm in Fig. 3；
Fig. 6 is the structural schematic diagram of running gear in Fig. 1；
Fig. 7 is the structural schematic diagram that conveyer is lifted in Fig. 3；
Fig. 8 be bottom hold-down support 24 in Fig. 3, support plate 25 and turntable structural schematic diagram；
Fig. 9 is that manipulator, waxing manipulator, baking manipulator, gas nitrogen cooling manipulator, polishing mechanical hand are cleaned in Fig. 3
Structural schematic diagram.
Specific implementation mode
To keep objects, features and advantages of the present invention more obvious and easy to understand, below in conjunction with the accompanying drawings to the tool of the present invention
Body embodiment is described in detail.Several embodiments of the present invention are given in attached drawing.But the present invention can be with many not
With form realize, however it is not limited to embodiment described herein.Make to this on the contrary, purpose of providing these embodiments is
The disclosure of invention is more thorough and comprehensive.
It should be noted that when element is referred to as " being fixedly arranged on " another element, it can be directly on another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side ", "upper", "lower" and similar statement for illustrative purposes only, do not indicate or imply the indicated device or member
Part must have a particular orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be machine
Tool connects, and can also be electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary two members
Connection inside part.For the ordinary skill in the art, above-mentioned term can be understood in this hair as the case may be
Concrete meaning in bright.Term " and or " used herein include the arbitrary of one or more relevant Listed Items and
All combinations.
Please refer to Fig.1 the curling stone robot proposed to Fig. 9, one embodiment of the invention, including curling stone transfer robot 10
It maintains machinery people 20 with curling stone, should also include corresponding control system, in the present embodiment, control system specifically uses PLC to control
System, easy to use, programming is simple, and function is strong, and the ratio of performance to price is high.
The curling stone transfer robot 10 includes chassis 11, the mechanical arm 12 on the chassis 11 and installation
The front of the running gear 13 of 11 surrounding on the chassis, the chassis 11 is equipped with camera identifying system 14, the camera
Identifying system 14 is for being identified curling stone.Camera identifying system 14 is specifically after acquiring image by camera lens, by camera
Interior photosensory assembly circuit and control assembly to image be processed and converted to the digital signal that computer can identify, then borrows
It is input to after computer by parallel port or USB connections and image restoring is carried out by software again, curling stone is accurately identified and position
Judge.The operation principle of camera is substantially：Scenery projects imaging sensor by the optical imagery that camera lens (LENS) generates
On surface, electric signal is then turned to, becomes data image signal after A/D is converted, is then sent through in digital signal processing chip
Working process, then be transferred in computer and handled by USB interface, by display it is seen that image.In the present embodiment,
Specific to use binocular wide-angle stabilization vision system, which, can be accurate using the real-time curling stone identification based on Kinect
Curling stone is accurately identified and position judgment.
The mechanical arm 12 connects lifting lug 15, and pawl 16 is inhaled in the connection of the lifting lug 15, and the suction pawl 16 is for capturing curling stone.
The curling stone maintain machinery people 20 include shell 21, the hatch door conveyer 22 outside the shell 21, it is described
Hatch door conveyer 22 is used to the curling stone that the curling stone transfer robot 10 is carried being sent to the inside of the shell 21.
The top of the hatch door conveyer 22 be equipped with industry CT detecting system 23, the industry CT detecting system 23 for pair
Curling stone is detected.Industry CT detecting system 23 is assemblied in hatch door inlet, is detected in curling stone transmit process, and work is former
Reason is when the beam by collimation and certain energy passes through checking matter, according to the decaying of each volume element in each transmission direction
For coefficient from difference, the transmission potential that detector receives is also different.According to certain image reconstruction algorithm, you can obtain and be detected work
The tomoscan image of part section a thin layer askiatic overlapping, repeats the above process and can get a new faultage image, when
3-D view can be reconstructed by measuring enough two-dimensional ct images.Industry CT detecting system 23 can to curling stone from entirety to
Part, from appearance to inside, detects the damage situations of curling stone, makes feedback in time under the conditions of not damaged from surrounding to bottom surface,
Adequate preparation is carried out for the maintenance work of next step.
The shell 21 is internally provided with bottom hold-down support 24, and the bottom hold-down support 24 is equipped with support plate 25,
Damping wheel 26 is equipped between the support plate 25 and the bottom hold-down support 24.
The support plate 25 is equipped with lifting conveyer 27, turntable 28, sucker rotating arm 29, cleans manipulator 30, beats
Wax manipulator 31, baking manipulator 32, gas nitrogen cooling manipulator 33, polishing mechanical hand 34.
The lifting conveyer 27 is docked with the hatch door conveyer 22, and the lifting conveyer 27 is located at two rotations
Between turntable 28, the sucker rotating arm 29 is set to the surface of the lifting conveyer 27, and the sucker rotating arm 29 is used for
Curling stone is sucked, and is pivoted about with a support shaft, curling stone is made (to clean manipulator 30, waxing machinery with each manipulator
Hand 31, baking manipulator 32, gas nitrogen cooling manipulator 33, polishing mechanical hand 34) contact.Specifically, the sucker rotating arm 29
Support arm 292 including sucker 291 and set on 291 both sides of the sucker, the sucker 291 connect with the rotation of the support arm 292
Connect, the sucker 291 can be rotated centered on tie point of the sucker 291 with the support arm 292, the sucker 291 with
The support arm 292 is connected by lifting slider 293.
Five manipulators are moved by respective servos control respectively, and control system is mutual indepedent, are flexibly worked, are respectively completed
It cleans, waxing, baking, cooling, polish five techniques, by being precisely controlled and control being written in the safeguard and maintenance process of profession
Program, wherein：
It is the soft hairbrush made of special moccasin material to clean manipulator 30, and rotating band electric brush by motor rotates
Under several to curling stone bottom surface friction ring portion wiping, purpose is not only to wipe the snow end or impurity that curling stone bottom surface drag ring glues, important
It is the bright sliding surface that rubs out.
Waxing manipulator 31 is to be heated into wax with jet pipe liquid, then is squeezed out hot wax by working as extruser,
It is even to be applied to curling stone bottom, it allows it to be attached to stone surface layer, waits for that its natural cooling solidifies.
Baking manipulator 32 is assembled with alcohol blast burner, is using alcohol as fuel, blowtorch sends out uniformly suitable flame, is
Curling stone bottom is heated evenly, by the solid wax heating and melting of curling stone bottom.
Gas nitrogen cooling manipulator 33 is equipped with small-sized gas nitrogen tank, makes the curling stone bottom of baking fast using the low-temperature characteristics of gas nitrogen
Quickly cooling but, has reached the technological requirement safeguarded, curling stone temperature remains at little with ice face temperature difference, is maintained at ± 3 DEG C
Between.
Polishing mechanical hand 34 is to drive the polishing wheel of professional speciality to be polished just curling stone after cooling using motor
To bright sliding surface, expose former stone smoothness and gloss, even if service procedure completes so far.
In the present embodiment, the mechanical arm 12 include the first sub- arm 121 and the second sub- arm 122, the first sub- arm 121 with
Second sub- arm 122 flexible connection, the chassis 11 are flexibly connected with the described first sub- arm 121, and the second sub- arm 122 is logical
Overbalance link mechanism 123 is connect with the lifting lug 15, is set between the balanced connecting rod mechanism 123 and the second sub- arm 122
There is the first cylinder 124, the second cylinder 125, the second sub- arm 125 are equipped between the first sub- arm 121 and the chassis 11
It is equipped with third cylinder 126 between the chassis 11, the 4th cylinder 127 is equipped between the lifting lug 15 and the suction pawl 16.The
The stretching, extension and contraction of two cylinders 125 and 126 job control mechanical arm 12 of third cylinder, when close to the position of curling stone, the first gas
Cylinder 124 pushes balanced connecting rod mechanism 123 to realize that curling stone beginning bottom is kept eventually during the stretching, extension contraction of mechanical arm 12, snatch curling stone
In horizontal stable, then the 4th cylinder 127 work makes the expansion of suction pawl 16 merge, sucker auxiliary grip curling stone.
The running gear 13 uses Mecanum wheel, each Mecanum wheel to be equipped with a two level cylindrical straight gear
Reduction box 131 is taken turns, and four Mecanum wheels are controlled by respective motor respectively.Specifically, can also be also in each Mike
Some angularly disposed small rollers on the wheel rim of Na Mu wheels, realize horizontal sliding.When wheel is rotated around fixed wheel arbor, respectively
The envelope of a small roller is cylindrical surface, so the wheel being capable of continuously rolls forward.
The hatch door conveyer 22 includes supporting rack 221, and support frame as described above 221 is equipped with outer conveyor belt 222, the branch
The bottom of support 221 connects undercarriage 223, be equipped between support frame as described above 221 and the undercarriage 223 the 5th cylinder 224 and
6th cylinder 225, the one end far from the shell 21 of support frame as described above 221 connect idler wheel 226, support frame as described above 221 with it is described
The 7th cylinder 227 is equipped between idler wheel 226.
Hatch door conveyer 22 is controlled the unlatching of entire hatch door, step motor control transmission, undercarriage by the 6th cylinder 225
223 are made of link mechanism, mainly support ground.Under the promotion of the 5th cylinder 224, undercarriage 223 is put down, the 7th cylinder
227 push extension support link, steadily prop up ground, while playing cushioning effect.
The lifting conveyer 27 includes lifting support plate 271, and the lifting support plate 271 is mounted on the support plate 25
On, the lifting support plate 271 is equipped with elevator scissors strut 272, motor 273 and lead screw 274, the elevator bridging
Bar 272 is slidably connected with the lifting support plate 271, and the elevator scissors strut 272 is equipped with internal conveyer belt 275, institute
Internal conveyer belt 275 is stated to dock with the outer conveyor belt 222.The motor 273 specifically uses stepper motor.Lift conveyer
27 are driven mobile sliding block by step motor control lead screw 274, and elevator scissors strut 272 is close to each other and controls lifting, then by
Another stepper motor then controls transmission of the curling stone on internal conveyer belt 275.
The bottom fixed support plate 24 and the support plate 25 are rounded, and the quantity of the turntable 28 is 5, and 5
A turntable 28 is evenly distributed in the support plate 25.
The turntable 28 is equipped with air inlet 281 and air reservoir 282, and the centre of the support plate 25 is equipped with machinery by hand
Make platform mounting column 251, the bottom of the robot work platform mounting column 251 is fixed on the bottom fixed support plate 24
On, the robot work platform mounting column 251 passes through the support plate 25, the scouring manipulator 30, waxing machinery
Hand 31, the baking manipulator 32, the gas nitrogen cooling manipulator 33, the polishing mechanical hand 34 pass through the robot work
Platform mounting column 251 is fixed on the bottom fixed support plate 24.
It is equipped with the first driving gear between the bottom fixed support plate 24 and the support plate 25 and is driven with described first
Second driving gear of moving gear cooperation, the first driving gear and the second driving gear are for driving the damping wheel
26 rotary motions centered on the center of circle of the bottom fixed support plate 24.
It is that curling stone transfer robot carries out curling stone on curling stone field first according to the curling stone robot that the present embodiment proposes
It collects and carries, curling stone transfer robot can capture curling stone and be transported to curling stone and maintain machinery people, in curling stone maintains machinery people,
Curling stone is received and transmitted by hatch door conveyer, industry CT detecting system can be passed through on the way, quality inspection is carried out to curling stone
It surveys, then curling stone bottom-exposed is given to the machine for executing maintenance process by the cooperation of internal lifting conveyer and sucker rotating arm
Tool hand, turntable rotation driving under switch curling stone position, make curling stone bottom successively with clean manipulator, waxing machinery
Hand, baking manipulator, gas nitrogen cooling manipulator, polishing mechanical hand contact, realize the professional maintenance of curling stone.Using the curling stone machine
The maintenance of curling stone is transformed into mechanical digitalization automation progress by device people with maintenance from professional artificial Operation and Maintenance maintenance, is no longer needed to
Please professional curling stone is maintained, facilitate the maintenance of curling stone, the service life of curling stone can be extended, be preferably curling stone
Movement service.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiments or example in can be combined in any suitable manner.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
Cannot the limitation to the scope of the claims of the present invention therefore be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of curling stone robot, which is characterized in that maintain machinery people including curling stone transfer robot and curling stone, the curling stone is removed
It includes chassis, the mechanical arm on the chassis and the running gear mounted on the chassis surrounding, institute to transport robot
The front for stating chassis is equipped with camera identifying system, and the camera identifying system is for being identified curling stone, the machinery
Arm connects lifting lug, and pawl is inhaled in lifting lug connection, and the suctions pawl is used to capture curling stone, the curling stone maintain machinery people include shell,
Set on the hatch door conveyer of the shell exterior, curling stone of the hatch door conveyer for carrying the curling stone transfer robot
It is sent to the inside of the shell, the top of the hatch door conveyer is equipped with industry CT detecting system, the industry CT detection system
System is for being detected curling stone, and the shell is internally provided with bottom hold-down support, and the bottom hold-down support is equipped with branch
Fagging, is equipped with damping wheel between the support plate and the bottom hold-down support, the support plate is equipped with lifting conveyer, rotation
Turntable, sucker rotating arm clean manipulator, waxing manipulator, baking manipulator, gas nitrogen cooling manipulator, polishing mechanical hand, institute
It states lifting conveyer to dock with the hatch door conveyer, the lifting conveyer is located between two turntables, the suction
The pivoted arm that spirals is set to the surface of the lifting conveyer, and the sucker rotating arm is with a support shaft for curling stone to be sucked
Center is rotated, and curling stone is made to be contacted with each manipulator.
2. curling stone robot according to claim 1, which is characterized in that the mechanical arm includes the first sub- arm and the second son
Arm, the first sub- arm are flexibly connected with the described second sub- arm, and the chassis is flexibly connected with the described first sub- arm, and described second
Sub- arm is connect by balanced connecting rod mechanism with the lifting lug, and first is equipped between the balanced connecting rod mechanism and the second sub- arm
Cylinder is equipped with the second cylinder between the first sub- arm and the chassis, the is equipped between the second sub- arm and the chassis
Three cylinders are equipped with the 4th cylinder between the lifting lug and the suction pawl.
3. curling stone robot according to claim 1, which is characterized in that the running gear uses Mecanum wheel, often
A Mecanum wheel is equipped with a two level spur gear wheel reduction box, and four Mecanum wheels are respectively by respective
Motor control.
4. curling stone robot according to claim 1, which is characterized in that the hatch door conveyer includes supporting rack, described
Supporting rack is equipped with outer conveyor belt, and the bottom of support frame as described above connects undercarriage, between support frame as described above and the undercarriage
Equipped with the 5th cylinder and the 6th cylinder, one end far from the shell of support frame as described above connects idler wheel, support frame as described above with it is described
The 7th cylinder is equipped between idler wheel.
5. curling stone robot according to claim 4, which is characterized in that the lifting conveyer includes lifting support plate,
The lifting support plate is mounted in the support plate, and the lifting support plate is equipped with elevator scissors strut, motor and silk
Bar, the elevator scissors strut are slidably connected with the lifting support plate, and the elevator scissors strut is equipped with internal pass
Band, the internal conveyer belt is sent to be docked with the outer conveyor belt.
6. curling stone robot according to claim 1, which is characterized in that the motor uses stepper motor.
7. curling stone robot according to claim 1, which is characterized in that the sucker rotating arm include sucker and be set to institute
The support arm of sucker both sides is stated, the sucker is rotatablely connected with the support arm, and the sucker can be with the sucker and the branch
It is rotated centered on the tie point of brace, the sucker is connect with the support arm by lifting slider.
8. curling stone robot according to claim 1, which is characterized in that the bottom fixed support plate and the support plate
Rounded, the quantity of the turntable is 5, and 5 turntables are evenly distributed in the support plate.
9. curling stone robot according to claim 8, which is characterized in that the turntable is equipped with air inlet and gas storage
The centre of slot, the support plate is equipped with robot work platform mounting column, and the bottom of the robot work platform mounting column is solid
It is scheduled on the bottom fixed support plate, the robot work platform mounting column passes through the support plate, the scouring machinery
Hand, the waxing manipulator, the baking manipulator, the gas nitrogen cooling manipulator, the polishing mechanical hand pass through the machine
Tool hand workbench mounting column is fixed on the bottom fixed support plate.
10. curling stone robot according to claim 1, which is characterized in that the bottom fixed support plate and the support
The first driving gear and the second driving gear with the first driving gear cooperation, the first driving gear are equipped between plate
With the second driving gear for driving damping wheel rotary motion centered on the center of circle of the bottom fixed support plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810446363.6A CN108436941B (en) | 2018-05-11 | 2018-05-11 | Curling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810446363.6A CN108436941B (en) | 2018-05-11 | 2018-05-11 | Curling robot |
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| Publication Number | Publication Date |
|---|---|
| CN108436941A true CN108436941A (en) | 2018-08-24 |
| CN108436941B CN108436941B (en) | 2023-04-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810446363.6A Active CN108436941B (en) | 2018-05-11 | 2018-05-11 | Curling robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110554701A (en) * | 2019-09-17 | 2019-12-10 | 哈尔滨工业大学 | Motion control system of curling throwing robot and rolling time domain optimization method thereof |
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| CN110554701B (en) * | 2019-09-17 | 2022-09-02 | 哈尔滨工业大学 | Motion control system of curling throwing robot and rolling time domain optimization method thereof |
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| CN108436941B (en) | 2023-04-11 |
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