CN108858155B - Mechanical arm with walking function - Google Patents
Mechanical arm with walking function Download PDFInfo
- Publication number
- CN108858155B CN108858155B CN201811013090.2A CN201811013090A CN108858155B CN 108858155 B CN108858155 B CN 108858155B CN 201811013090 A CN201811013090 A CN 201811013090A CN 108858155 B CN108858155 B CN 108858155B
- Authority
- CN
- China
- Prior art keywords
- arm
- base
- rack
- guide rail
- hinged
- 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.)
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- 230000009471 action Effects 0.000 claims description 12
- 229910000831 Steel Inorganic materials 0.000 claims description 5
- 239000010959 steel Substances 0.000 claims description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mechanical arm with a walking function, which comprises a guide rail, a rack, a walking gear, a clamping wheel, a fixed base, a clamping plate, a rotating base, a first arm, a second arm, a gripping apparatus, a rack, a first cylinder and a second cylinder, wherein the clamping wheel is arranged on the rack; one side surface of the rack is fixedly connected with one side surface of the guide rail, and the other side surface of the guide rail is fixedly connected with the rack; the walking gear is arranged at one end of the fixed base and is meshed with the rack, so that the walking gear and the rack can walk up and down along the guide rail after being meshed; the clamping wheel is tightly attached to the inner surface of the guide rail and is connected with the fixed base through the clamping plate, so that the mechanical arm is prevented from overturning; the mechanical arm with the walking function can be applied to automatic plug-in of the power plug of the container terminal, particularly the full-automatic container terminal refrigerator, so as to improve the working efficiency, avoid hidden danger caused by electric leakage to personal safety, reduce the influence of production scheduling, and have good economical efficiency and practicability.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a mechanical arm with a walking function, which can be applied to power plug of a refrigerator of a container terminal.
Background
Because the refrigerator needs to be powered by a power supply, in a refrigerator yard of a container terminal, when the refrigerator is piled up in the yard, the power supply is connected to the refrigerator.
At present, in the storage yards of containers at home and abroad, a manual operation mode is adopted for connecting the power supply to the refrigerators, namely, when the refrigerators are piled up, a power plug on the refrigerators is required to be manually taken out and then is inserted into a power socket on a frame with an edge steel structure, and the power supply is connected to supply power; when the refrigerator needs to leave the storage yard, the power plug on the refrigerator needs to be pulled out from the power socket on the steel structure rack manually, and the power supply is disconnected.
Because the container terminal needs 24 hours of uninterrupted operation a day, the power supply is plugged and unplugged by adopting a manual operation mode, so that an operator is in a high-load working environment, the working pressure is high, the working efficiency is reduced, and potential hazards to personal safety caused by electric leakage are also generated in the working process. In addition, when workers enter and exit the refrigerator yard, the container crane in the area cannot carry out operations such as stacking, taking and the like, so that the influence on production scheduling is large.
Disclosure of Invention
The invention aims to provide a mechanical arm with a walking function, which ensures high efficiency, safety, reliability and strong practicability of operation.
The technical solution for realizing the purpose of the invention is as follows:
the mechanical arm with the walking function is characterized by comprising a guide rail, a rack, a walking gear, a clamping wheel, a fixed base, a clamping plate, a rotating base, a first arm, a second arm, a gripping apparatus, a rack, a first cylinder and a second cylinder; one side surface of the rack is fixedly connected with one side surface of the guide rail, and the other side surface of the guide rail is fixedly connected with the rack; the walking gear is arranged at one end of the fixed base and is meshed with the rack, so that the walking gear and the rack can walk up and down along the guide rail after being meshed; the clamping wheels are tightly attached to the inner surface of the guide rail and are connected with the fixed base through the clamping plates, so that the mechanical arm is prevented from overturning; the other end of the fixed base is connected with one end of the rotating base, the other end of the rotating base is hinged with one end of a first arm, the other end of the first arm is hinged with one end of a second arm, and the other end of the second arm is connected with the gripping apparatus; the gripping apparatus comprises an arc gripping sheet, a gripping apparatus cylinder and a base; the root of the arc-shaped grabbing piece is hinged with the base, one end of the grabbing device cylinder is hinged with the base, the other end of the grabbing device cylinder is hinged with the middle part of the arc-shaped grabbing piece, and the action of the arc-shaped grabbing piece is controlled through the telescopic action of the grabbing device cylinder; one end of the first air cylinder is hinged with the rotating base, the other end of the first air cylinder is hinged with the first arm, and the front-back swing angle of the first arm is controlled through the telescopic action of the first air cylinder; one end of the second air cylinder is hinged with the first arm, the other end of the second air cylinder is hinged with the second arm, and the up-and-down swing angle of the second arm is controlled through the telescopic action of the second air cylinder.
Preferably, the other end of the fixed base is connected with one end of the rotating base through a base rotating bearing, and the base rotating bearing can enable the rotating base to rotate for 360 degrees.
Preferably, the other end of the second arm is connected to the gripper via a gripper swivel bearing, which can rotate the gripper through 360 °.
Preferably, the guide rail adopts an I-shaped structural section and is arranged vertically to the ground.
Preferably, the frame is a steel frame.
Compared with the prior art, the invention has the remarkable advantages that:
the mechanical arm with the walking function can be applied to automatic plug-in of the power plug of the container terminal, particularly the full-automatic container terminal refrigerator, so as to improve the working efficiency, avoid hidden danger caused by electric leakage to personal safety, reduce the influence of production scheduling, and have good economical efficiency and practicability.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a mechanical arm with walking function according to the present invention.
Fig. 2 is a top view of a robot arm with walking function according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1:
as shown in fig. 1 and 2, a mechanical arm with a walking function comprises a guide rail 2, a rack 3, a walking gear 4, a clamping wheel 5, a fixed base 6, a clamping plate 7, a rotating base 8, a base rotating bearing 9, a first arm 10, a second arm 11, a gripping apparatus 12, a gripping apparatus rotating bearing 13, a rack 14, a first cylinder 101 and a second cylinder 102; one side surface of the rack 14 is fixedly connected with one side surface of the guide rail 2, and the other side surface of the guide rail 2 is fixedly connected with the rack 3; the frame 14 is a steel structure frame, the guide rail 2 is an I-shaped structure section, and the frame 14 and the guide rail 2 are perpendicular to the ground 1; the walking gear 4 is arranged at one end of the fixed base 6, and the walking gear 4 is meshed with the rack 3, so that the walking gear 4 can walk up and down along the guide rail 2 after being meshed with the rack 3; the clamping wheels 5 are tightly attached to the inner surface of the guide rail 2 and are connected with the fixed base 6 through the clamping plates 7, so that the mechanical arm is prevented from overturning; the other end of the fixed base 6 is connected with one end of the rotating base 8 through a base rotating bearing 9, the rotating base 8 can rotate 360 degrees through the base rotating bearing 9, the other end of the rotating base 8 is hinged with one end of a first arm 10 through a hinge point 103, a hinge point 104 at the other end of the first arm 10 is hinged with one end of a second arm 11, the other end of the second arm 11 is connected with a gripping apparatus 12 through a gripping apparatus rotating bearing 13, and the gripping apparatus rotating bearing 13 can enable the gripping apparatus 12 to rotate 360 degrees; the gripper 12 includes 2 arcuate gripping sheets 121, 2 gripper cylinders 122, and a base 123; the root of the arc-shaped grabbing piece 121 is hinged with the base 123 through a hinge point 124, one end of the grabbing cylinder 122 is hinged with the base 123, the other end of the grabbing cylinder 122 is hinged with the middle part of the arc-shaped grabbing piece 121, and the action of the arc-shaped grabbing piece 121 is controlled through the telescopic action of the grabbing cylinder 122; one end of the first air cylinder 101 is hinged with the rotating base 8, the other end of the first air cylinder 101 is hinged with the first arm 10, and the front-back swing angle of the first arm 101 is controlled through the telescopic action of the first air cylinder 101; one end of the second cylinder 102 is hinged to the first arm 10, the other end of the second cylinder 102 is hinged to the second arm 11, and the up-down swing angle of the second arm 11 is controlled by the telescopic action of the second cylinder 102.
In summary, the mechanical arm with the walking function can be applied to automatic plug-in of the power plug of the container terminal, particularly the full-automatic container terminal refrigerator, so as to improve the working efficiency, avoid hidden danger caused by electric leakage to personal safety, reduce the influence of production scheduling, and have good economical efficiency and practicability.
The technical problems, technical solutions and advantageous effects of the present invention have been further described in detail in the above embodiments, and it should be understood that the above embodiments are merely illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (3)
1. The mechanical arm with the walking function is applied to automatic plug-in of a power plug of a full-automatic container wharf refrigerator, and is characterized by comprising a guide rail (2), a rack (3), a walking gear (4), a clamping wheel (5), a fixed base (6), a clamping plate (7), a rotating base (8), a first arm (10), a second arm (11), a gripping apparatus (12), a rack (14), a first cylinder (101) and a second cylinder (102); one side surface of the rack (14) is fixedly connected with one side surface of the guide rail (2), and the other side surface of the guide rail (2) is fixedly connected with the rack (3); the walking gear (4) is arranged at one end of the fixed base (6), and the walking gear (4) is meshed with the rack (3), so that the walking gear (4) can walk up and down along the guide rail (2) after being meshed with the rack (3); the clamping wheels (5) are tightly attached to the inner surface of the guide rail (2) and are connected with the fixed base (6) through clamping plates (7), so that the mechanical arm is prevented from overturning; the other end of the fixed base (6) is connected with one end of the rotary base (8), the other end of the rotary base (8) is hinged with one end of a first arm (10), the other end of the first arm (10) is hinged with one end of a second arm (11), and the other end of the second arm (11) is connected with a gripping apparatus (12); the gripper (12) comprises 2 arc-shaped gripping sheets (121), 2 gripper cylinders (122) and a base (123); the root of the arc-shaped grabbing piece (121) is hinged with the base (123), one end of the grabbing cylinder (122) is hinged with the base (123), the other end of the grabbing cylinder (122) is hinged with the middle part of the arc-shaped grabbing piece (121), and the action of the arc-shaped grabbing piece (121) is controlled through the telescopic action of the grabbing cylinder (122); one end of the first air cylinder (101) is hinged with the rotary base (8), the other end of the first air cylinder (101) is hinged with the first arm (10), and the front-back swing angle of the first arm (10) is controlled through the telescopic action of the first air cylinder (101); one end of the second air cylinder (102) is hinged with the first arm (10), the other end of the second air cylinder (102) is hinged with the second arm (11), and the up-down swing angle of the second arm (11) is controlled through the telescopic action of the second air cylinder (102); the other end of the fixed base (6) is connected with one end of the rotary base (8) through a base rotary bearing (9), and the base rotary bearing (9) can enable the rotary base (8) to rotate for 360 degrees; the other end of the second arm (11) is connected with the gripping apparatus (12) through a gripping apparatus slewing bearing (13), and the gripping apparatus slewing bearing (13) can enable the gripping apparatus (12) to rotate for 360 degrees.
2. The mechanical arm with the walking function according to claim 1, wherein the guide rail (2) adopts an I-shaped structural section and is arranged vertically to the ground (1).
3. The robot arm with walking function according to claim 1, characterized in that the frame (14) is a steel frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811013090.2A CN108858155B (en) | 2018-08-31 | 2018-08-31 | Mechanical arm with walking function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811013090.2A CN108858155B (en) | 2018-08-31 | 2018-08-31 | Mechanical arm with walking function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108858155A CN108858155A (en) | 2018-11-23 |
| CN108858155B true CN108858155B (en) | 2024-03-12 |
Family
ID=64322632
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811013090.2A Active CN108858155B (en) | 2018-08-31 | 2018-08-31 | Mechanical arm with walking function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108858155B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111266431B (en) * | 2020-01-21 | 2022-08-26 | 太原科技大学 | Gear type automatic placing device for backing plate of flatting mill |
| CN111483752B (en) * | 2020-04-30 | 2021-12-17 | 宁波大桔科技有限公司 | Intelligent material handling equipment in workshop |
| CN113018083A (en) * | 2021-03-15 | 2021-06-25 | 蒋先敏 | Artificial intelligence department of ultrasonography patient limbs adjusting device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102008013729A1 (en) * | 2008-03-11 | 2009-09-17 | Schaeffler Kg | Handling aid for use by e.g. older person, has assembly foot i.e. ceiling bracket, for attachment to ceiling or wall, guide arm movably supported relative to assembly foot over joint arrangement, and handle arranged at free end of guide arm |
| CN107243898A (en) * | 2017-06-09 | 2017-10-13 | 陕西科技大学 | A kind of link-type intelligent robot |
| CN107378987A (en) * | 2017-08-31 | 2017-11-24 | 安徽工程大学 | A kind of six-bar linkage robot arm device of the adjustable free degree |
| CN206748425U (en) * | 2017-03-17 | 2017-12-15 | 刘洋洋 | A kind of multifunction manipulator of plastic product forming |
| CN208681584U (en) * | 2018-08-31 | 2019-04-02 | 中交第三航务工程勘察设计院有限公司 | A kind of mechanical arm with walking function |
-
2018
- 2018-08-31 CN CN201811013090.2A patent/CN108858155B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102008013729A1 (en) * | 2008-03-11 | 2009-09-17 | Schaeffler Kg | Handling aid for use by e.g. older person, has assembly foot i.e. ceiling bracket, for attachment to ceiling or wall, guide arm movably supported relative to assembly foot over joint arrangement, and handle arranged at free end of guide arm |
| CN206748425U (en) * | 2017-03-17 | 2017-12-15 | 刘洋洋 | A kind of multifunction manipulator of plastic product forming |
| CN107243898A (en) * | 2017-06-09 | 2017-10-13 | 陕西科技大学 | A kind of link-type intelligent robot |
| CN107378987A (en) * | 2017-08-31 | 2017-11-24 | 安徽工程大学 | A kind of six-bar linkage robot arm device of the adjustable free degree |
| CN208681584U (en) * | 2018-08-31 | 2019-04-02 | 中交第三航务工程勘察设计院有限公司 | A kind of mechanical arm with walking function |
Non-Patent Citations (1)
| Title |
|---|
| 基于六杆机构的快递搬运柔性机械手设计;段立蹄;沈仙法;丁正益;;机械工程师(11);第96-97段 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108858155A (en) | 2018-11-23 |
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