CN108748126A - A kind of Ban Zhuan robots - Google Patents
A kind of Ban Zhuan robots Download PDFInfo
- Publication number
- CN108748126A CN108748126A CN201810564414.5A CN201810564414A CN108748126A CN 108748126 A CN108748126 A CN 108748126A CN 201810564414 A CN201810564414 A CN 201810564414A CN 108748126 A CN108748126 A CN 108748126A
- Authority
- CN
- China
- Prior art keywords
- forearm
- cylinder
- shaft
- large arm
- driving
- 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
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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of Ban Zhuan robots, including pedestal, large arm driving cylinder, large arm, forearm driving cylinder, forearm, rotary cylinder, clamping device and adjustment mechanism；The floor installation is equipped with driving wheel on crawler belt on the crawler belt, driving wheel is driven by electric rotating machine；It is equipped with linking arm between the large arm driving cylinder and large arm, first rotating shaft is equipped at the top of linking arm, it is equipped with the second shaft between the forearm driving cylinder and forearm, the rotary cylinder is fixed in the second shaft; forearm is fixed on the output shaft of rotary cylinder; third shaft is equipped between forearm and clamping device, adjustment mechanism drives third shaft to rotate and adjusts the gradient of clamping device；Robot is simple in structure and compact, easy to operate, and brick and shift position can be being moved in operating process, can adjust claming angle in the process of clamping brick, and according to the live stacking for needing to carry out multiple angles, meet various demands.
Description
Technical field
The present invention relates to a kind of robot, more particularly to a kind of Ban Zhuan robots.
Background technology
It in building field, needs to stack brick, even if in present architectural engineering, brick can be made by loop wheel machine
Be transported to high level, but the process stacked from carrier to floor in brick, still can only by manually being carried, by
It is very big in the weight of brick, in this way can be very laborious, and also efficiency is very low, can be removed automatically to brick so needs are a kind of
The machine of fortune liberates the labour of porter.
Invention content
The shortcomings that it is an object of the invention to overcome the prior art and deficiency provide a kind of simple in structure, energy multi-angle pair
Brick is clamped, and brick can be clamped and carry out mobile robot in the process.
The purpose of the invention is achieved by the following technical solution：A kind of Ban Zhuan robots, including pedestal, large arm drive gas
Cylinder, large arm, forearm driving cylinder, forearm, rotary cylinder, clamping device and adjustment mechanism；The floor installation on crawler belt,
Driving wheel is installed, driving wheel is driven by electric rotating machine on the crawler belt；It is equipped between the large arm driving cylinder and large arm
Linking arm, is equipped with first rotating shaft at the top of linking arm, and large arm drives cylinder to pass through the gear, the chain-driving that are arranged inside linking arm
First rotating shaft rotates upwardly and downwardly, and the second shaft is equipped between the forearm driving cylinder and forearm, and forearm driving cylinder passes through setting
Gear, the second shaft of chain-driving inside large arm rotate upwardly and downwardly, and the rotary cylinder is fixed in the second shaft, and forearm is solid
It is scheduled on the output shaft of rotary cylinder, third shaft is equipped between forearm and clamping device, adjustment mechanism drives third shaft to turn
Move and adjust the gradient of clamping device.
Preferably, clamping device includes pneumatic clamper cylinder and two grip blocks, and two grip blocks are under the driving of pneumatic clamper cylinder
It is located remotely from each other or close to each other.
Preferably, the inner side end of the grip block is equipped with asperities.
Preferably, pneumatic clamper cylinder bottom surface is equipped with camera.
Preferably, the adjustment mechanism includes the linear actuator and tripod being fixed on the top surface of forearm, described
Hinged with the output shaft of linear actuator in the middle part of tripod, one end of tripod and the top surface of forearm are hinged, and tripod is in addition
One end is fixedly connected with third shaft.
Preferably, the linear actuator is jack.
Preferably, the large arm driving cylinder, forearm driving cylinder, rotary cylinder are all hydraulic motor.
The present invention has the following advantages and effects with respect to the prior art：
1, large arm driving cylinder is rotated upwardly and downwardly by the gear that is arranged inside linking arm, chain-driving first rotating shaft, is small
Arm drives cylinder to be rotated upwardly and downwardly by the gear that is arranged inside large arm, the second shaft of chain-driving, and clamping device is enable to drop
The brick of each height is clamped in low or wicking height.
2, rotary cylinder can adjust the rotation angle of clamping device, facilitate clamping brick, and can be after clamping to brick
Block is put down and is stacked at any angle.
3, adjustment mechanism can adjust the vertical angle of clamping device, ensure that clamping device can be clamped to brick just
Face prevents clamping from just brick not being made to throw away.
4, brick is clamped by the cooperation of simple pneumatic clamper cylinder and two grip blocks, can adapt to all size
Brick to be clamped.
Description of the drawings
Fig. 1 is the stereogram of Ban Zhuan robots.
Fig. 2 is the vertical view in Fig. 1.
Specific implementation mode
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited
In this.
Referring to Figures 1 and 2, a kind of Ban Zhuan robots, including pedestal 1, large arm driving cylinder 2, large arm 3, forearm drive gas
Cylinder 4, forearm 5, rotary cylinder 6, clamping device 7 and adjustment mechanism 8；The pedestal 1 is mounted on crawler belt 9, on the crawler belt 9
Driving wheel 10 is installed, driving wheel 10 is driven by electric rotating machine (not shown), so as to what clamping device 7 was clamped
Brick is carried and is transferred to and stacked at a distance；It is equipped with linking arm 11, linking arm between the large arm driving cylinder 2 and large arm 3
11 tops are equipped with first rotating shaft 12, and large arm driving cylinder 2 (is not shown by gear, the chain being arranged inside linking arm 11 in figure
Show) drive first rotating shaft 12 to rotate, it is equipped with the second shaft 13 between the forearm driving cylinder 4 and forearm 5, forearm drives cylinder
4 drive the second shaft 13 to rotate upwardly and downwardly by the gear that is arranged inside large arm 3, chain (not shown), the rotary pneumatic
Cylinder 6 is fixed in the second shaft 13, and forearm 5 is fixed on the output shaft of rotary cylinder 6, and folder can be adjusted by rotary cylinder 6
The claming angle of device 7 is held, it is convenient that brick is clamped, and the stacking of any angle can be carried out after clamping.Forearm 5
Third shaft 14 is equipped between clamping device 7, adjustment mechanism 8 drives third shaft 14 to rotate and adjusts inclining for clamping device 7
Gradient guarantees to clip to horizontal positioned brick.
Preferably, clamping device 7 includes pneumatic clamper cylinder 71 and two grip blocks 72, and two grip blocks 72 are in pneumatic clamper cylinder
It is located remotely from each other under 71 drivings either close to each other to which brick is clamped or be put down.
Preferably, in order to increase the contact friction force of grip block 72 and brick, the inner side end of the grip block 72 is set
There are asperities 16.
Preferably, 71 bottom surface of pneumatic clamper cylinder is equipped with camera 15, and air exercise is calculated the brick carried and imaged,
The person of being conveniently operated is operated.
Preferably, the adjustment mechanism 8 includes linear actuator 81 and the tripod being fixed on the top surface of forearm 5
82,82 middle part of the tripod and the output shaft of linear actuator 81 are hinged, and one end of tripod 82 is cut with scissors with the top surface of forearm 5
It connects, the other end of tripod 82 is fixedly connected with third shaft 14.When linear actuator 81 exports, tripod 82 is pushed to revolve
Turn, to push third shaft 14 to rotate, adjusts the vertical angle of grip block 72, it is ensured that brick can be clamped to.Preferably, exist
In the present embodiment, the linear actuator 81 is jack.
Preferably, the large arm driving cylinder 2, forearm driving cylinder 4, rotary cylinder 6 are all hydraulic motor, hydraulic motor
Output it is steady, and angle electrodeless can adjust, and output torque is very big, and counterweight thing is suitble to be pushed.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, it is other it is any without departing from the spirit and principles of the present invention made by changes, modifications, substitutions, combinations, simplifications,
Equivalent substitute mode is should be, is included within the scope of the present invention.
Claims (7)
1. a kind of Ban Zhuan robots, it is characterised in that：Including pedestal, large arm driving cylinder, large arm, forearm driving cylinder, forearm,
Rotary cylinder, clamping device and adjustment mechanism；The floor installation is equipped with driving wheel on crawler belt on the crawler belt, main
Driving wheel is driven by electric rotating machine；It is equipped with linking arm between the large arm driving cylinder and large arm, first is equipped at the top of linking arm
Shaft, large arm drive cylinder to be rotated upwardly and downwardly by the gear that is arranged inside linking arm, chain-driving first rotating shaft, the forearm
It drives and is equipped with the second shaft between cylinder and forearm, forearm drives cylinder to pass through the gear, the chain-driving that are arranged inside large arm
Second shaft rotates upwardly and downwardly, and the rotary cylinder is fixed in the second shaft, and forearm is fixed on the output shaft of rotary cylinder, small
Third shaft is equipped between arm and clamping device, adjustment mechanism drives third shaft to rotate and adjusts the gradient of clamping device.
2. Ban Zhuan robots according to claim 1, it is characterised in that：Clamping device includes pneumatic clamper cylinder and two folders
Hold plate, two grip blocks are located remotely from each other or close to each other under the driving of pneumatic clamper cylinder.
3. Ban Zhuan robots according to claim 2, it is characterised in that：The inner side end of the grip block is equipped with bumps
Line.
4. Ban Zhuan robots according to claim 2, it is characterised in that：Pneumatic clamper cylinder bottom surface is equipped with camera.
5. Ban Zhuan robots according to claim 1, it is characterised in that：The adjustment mechanism includes the top for being fixed on forearm
Linear actuator on face and tripod, the tripod middle part and the output shaft of linear actuator are hinged, and the one of tripod
End and the top surface of forearm are hinged, and the other end of tripod is fixedly connected with third shaft.
6. Ban Zhuan robots according to claim 5, it is characterised in that：The linear actuator is jack.
7. Ban Zhuan robots according to claim 1, it is characterised in that：Large arm driving cylinder, forearm driving cylinder,
Rotary cylinder is all hydraulic motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810564414.5A CN108748126A (en) | 2018-06-04 | 2018-06-04 | A kind of Ban Zhuan robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810564414.5A CN108748126A (en) | 2018-06-04 | 2018-06-04 | A kind of Ban Zhuan robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108748126A true CN108748126A (en) | 2018-11-06 |
Family
ID=64002396
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810564414.5A Pending CN108748126A (en) | 2018-06-04 | 2018-06-04 | A kind of Ban Zhuan robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108748126A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110182375A (en) * | 2019-06-10 | 2019-08-30 | 深圳市智旋科技有限公司 | A kind of unmanned plane imaging sensor control device and its control method |
| CN112049443A (en) * | 2020-09-04 | 2020-12-08 | 清华大学 | Omnidirectional movement's super large working space builds robot by laying bricks or stones |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4417928A1 (en) * | 1994-05-24 | 1995-11-30 | Lissmac Maschb & Diamantwerkz | Device for deploying building blocks |
| WO2012021732A1 (en) * | 2010-08-12 | 2012-02-16 | Scott Lawrence Peters | Brick laying system |
| CN104878945A (en) * | 2015-06-23 | 2015-09-02 | 广西丰歌绿屋建造科技有限公司 | Wall building robot |
| CN106272475A (en) * | 2016-09-28 | 2017-01-04 | 陈文全 | Accessible explosive-removal robot |
| CN106671071A (en) * | 2016-08-30 | 2017-05-17 | 洛阳今科自动化工程有限公司 | Brick moving robot |
| CN206844688U (en) * | 2017-06-30 | 2018-01-05 | 重庆中渝固立智能科技有限公司 | A kind of brick-clamping mechanical hand of bricklaying robot |
-
2018
- 2018-06-04 CN CN201810564414.5A patent/CN108748126A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4417928A1 (en) * | 1994-05-24 | 1995-11-30 | Lissmac Maschb & Diamantwerkz | Device for deploying building blocks |
| WO2012021732A1 (en) * | 2010-08-12 | 2012-02-16 | Scott Lawrence Peters | Brick laying system |
| CN104878945A (en) * | 2015-06-23 | 2015-09-02 | 广西丰歌绿屋建造科技有限公司 | Wall building robot |
| CN106671071A (en) * | 2016-08-30 | 2017-05-17 | 洛阳今科自动化工程有限公司 | Brick moving robot |
| CN106272475A (en) * | 2016-09-28 | 2017-01-04 | 陈文全 | Accessible explosive-removal robot |
| CN206844688U (en) * | 2017-06-30 | 2018-01-05 | 重庆中渝固立智能科技有限公司 | A kind of brick-clamping mechanical hand of bricklaying robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110182375A (en) * | 2019-06-10 | 2019-08-30 | 深圳市智旋科技有限公司 | A kind of unmanned plane imaging sensor control device and its control method |
| CN112049443A (en) * | 2020-09-04 | 2020-12-08 | 清华大学 | Omnidirectional movement's super large working space builds robot by laying bricks or stones |
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| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20181106 |
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| WD01 | Invention patent application deemed withdrawn after publication |