CN108890653A - A kind of robot manipulating task equipment for building - Google Patents
A kind of robot manipulating task equipment for building Download PDFInfo
- Publication number
- CN108890653A CN108890653A CN201810709147.6A CN201810709147A CN108890653A CN 108890653 A CN108890653 A CN 108890653A CN 201810709147 A CN201810709147 A CN 201810709147A CN 108890653 A CN108890653 A CN 108890653A
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- CN
- China
- Prior art keywords
- gear
- axis
- motor
- rack
- rotation axis
- 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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Classifications
-
- 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
- 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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/16—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with jibs supported by columns, e.g. towers having their lower end mounted for slewing movements
- B66C23/163—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with jibs supported by columns, e.g. towers having their lower end mounted for slewing movements where only part of the column rotates, i.e. at least the bottom part is fixed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
Abstract
The invention discloses a kind of robot manipulating task equipment for building, including rack, a walking is respectively equipped on four angle points of the rack to have enough, tool includes the first support being connected by the first rotation axis with rack enough for the walking, the first support includes the mounting portion of a setting parallel with the first rotation axis, the upper end of the mounting portion passes through the second rotation axis connection second connecting rod, the lower end of the mounting portion rotates axis connection third connecting rod by third, the outer end of the second connecting rod passes through the 4th rotation axis connection first support bar, the middle part of the first support bar is connected to the outer end of third connecting rod by the 5th rotation axis, the bottom end of the first support bar has landing part, the mounting portion, second connecting rod, third connecting rod and first support bar constitute the planar linkage mechanism of a parallelogram.Tool is controlled each walking of robot of the invention by two motors enough, and movement flexibly, facilitates control to advance and turn to, has practicability.
Description
Technical field
The present invention relates to technical field of buildings, particularly relate to a kind of robot manipulating task equipment for building.
Background technique
The apparatus for work of the prior art needs to be adjusted by dimensional orientation of multiple motors to operation head to make operation
To suitable position, adjustment structure design is complicated, and maintenance cost is high, needs to improve for head operation.In addition existing robot ambulation
It is all less flexible with turning to, it needs to improve.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of robot manipulating task equipment for building, to solve the prior art
Middle apparatus for work needs to be adjusted by dimensional orientation of multiple motors to operation head run operation head to suitable position
It sets, adjustment structure designs complexity, maintenance cost height and existing robot ambulation and turns to all less flexible technical problem.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of robot manipulating task equipment for building, including machine
Frame is respectively equipped with a walking on four angle points of the rack and has enough, the walking enough tool include by the first rotation axis and
The connected first support of rack, the first support includes the mounting portion of a setting parallel with the first rotation axis, the installation
The upper end in portion is rotated axis connection third by third and is connected by the second rotation axis connection second connecting rod, the lower end of the mounting portion
The outer end of bar, the second connecting rod rotates axis connection first support bar by the 4th, passes through in the middle part of the first support bar
5th rotation axis is connected to the outer end of third connecting rod, and the bottom end of the first support bar has a landing part, the mounting portion, the
Two connecting rods, third connecting rod and first support bar constitute the planar linkage mechanism of a parallelogram, first rotation axis
By the second motor driven its rotation, the third rotation axis by third motor driven its rotation, first rotation axis perpendicular to
Second rotation axis；
Be additionally provided with cantilever boom hoisting in the rack, the cantilever boom hoisting include Rotary cloumn, cantilever, driving,
Lifting motor, translation motor, rotating electric machine, suspension hook and the pedestal in rack, the Rotary cloumn are rotatably installed in
It is driven on the pedestal and by the rotating electric machine and is rotated, the cantilever is crossed out from the top of the Rotary cloumn, described
It is formed with horizontal first sliding groove in cantilever, the translation motor is mounted in the driving and drives the driving along described the
The sliding of one sliding slot, the lifting motor being mounted in the driving drive the hook lifting with hoisting heavy.
Further, the rack is equipped with apparatus for work, and the apparatus for work includes the main electricity being fixed in rack
Machine, gear ring and sleeve, the main motor output end are connected with motor shaft, are arranged with first gear on the motor shaft, and described
One gear engages planet pinion, and the planet pinion is engaged in the inside of gear ring, the first gear, planet pinion and
Gear ring is in the same plane, and the central axis of the planet pinion connects a crank, and the crank includes being set to outer end
The radial rod piece of external member, the axis being fixedly connected on planet pinion and vertical connectivity kit and axis, in the sleeve
It is arranged with the external member, limit disk body is equipped at the external end edge of the external member, the both ends of the surface of the sleeve are limited in limit disk body
Between the radial rod piece of crank, first rotating shaft, the first rotating shaft, external member, sleeve and motor shaft are arranged in the external member
For coaxial arrangement, the motor shaft is equipped with limited step, and the limited step is set between first gear and main motor simultaneously
It is adjacent in first gear, the first gear is equipped with the first cutting ferrule close to the one side of external member, and the first rotating shaft is close
One end face of the first cutting ferrule is equipped with the second cutting ferrule, and the first rotating shaft is equipped with second gear far from the end face of the first cutting ferrule,
The lateral margin of the limit disk body is equipped with strut, and the strut is perpendicular to disk body is limited, and rotation is equipped with third tooth on the strut
Wheel, the second gear and third gear Vertical Meshing, the center of the third gear are connected with L-type support rod, the L-type branch
The outer end of strut is equipped with operation head, and the lateral wall of the first rotating shaft is equipped with groove, the setting direction of the groove and first
The axis perpendicular of shaft, the bottom of the groove are equipped with the second pressure spring, and the outer end of second pressure spring is equipped with steel ball, the set
On the inner sidewall of part be equipped with a shallow slot at groove opposite position, second pressure spring support the steel ball be placed in it is described shallow
In slot, fastener is equipped between first cutting ferrule and the second cutting ferrule, the fastener is sheathed on motor by positioning key
On axis, the positioning key is set on motor shaft and axially parallel with motor shaft, and keyway is equipped in the fastener for holding
The positioning key is set, the both ends of the surface of the fastener are respectively provided with an engaging inclined-plane, and the middle part of the fastener is equipped with annular groove, institute
It states and is embedded with semi-circular actuator on annular groove, semi-circular actuator bottom is equipped with the first guide rod vertically, and described first leads
The lower end of bar vertically connects the second guide rod, and second guide rod is rotatably dispose on first rotating shaft seat, and the first rotating shaft seat is solid
Due in rack, second guide rod is horizontally disposed with and setting parallel with motor shaft, leads on second guide rod far from first
One end of bar is equipped with briquetting, is arranged with the first pressure spring on second guide rod, first pressure spring is set to briquetting and first turn
Between axle bed, the first pressure spring driving briquetting is suppressed on limit disk body and by the drive fastener engaging of semi-circular actuator
In on the second cutting ferrule, the lower end of first guide rod is also vertically equipped with guiding axis, the guiding axis with the second guide rod is perpendicular sets
It sets, the second shaft seat is additionally provided in the rack, rotation is equipped with the first rotating bar, first rotation on second shaft seat
One end of bar is vertically equipped with poke rod, and the other end is vertically equipped with handle, and the poke rod is equipped with U-type groove, and the U-type groove is embedded
In on the guiding axis, fastener is driven to be sticked on the first cutting ferrule so that motor by semi-circular actuator with handle described in this
Axis drives first gear rotation.
Further, first pressure spring, which forces in briquetting, makes the press power of briquetting compacting limit disk body be greater than steel ball from shallow
The slippage power that slot slips, and fastener engages the clamping force of the second cutting ferrule also greater than the slippage power that steel ball is slipped from shallow slot.
Above-mentioned technical proposal of the invention has the beneficial effect that：
Apparatus for work of the invention is only achieved that the sky of operation head by the evolution of fastener with a main motor
Between orientation transformation, it is structurally reasonable, it is novel in design, there is practicability.The each walking of robot of the invention has by two enough
Motor is controlled, and movement flexibly, facilitates control to advance and turn to, has practicability.
Detailed description of the invention
Fig. 1 is structure chart of the invention.
Fig. 2 is the perspective view of apparatus for work of the invention.
Fig. 3 is the part-structure perspective view of apparatus for work of the invention.
Fig. 4 is the part-structure exploded view one of apparatus for work of the invention.
Fig. 5 is the part-structure exploded view two of apparatus for work of the invention.
Fig. 6 is the fastener of apparatus for work of the invention and the exploded view of motor shaft.
Fig. 7 is the first rotating shaft of apparatus for work of the invention and the cross-sectional view of external member.
Fig. 8 is the perspective view one that walking of the invention has enough.
Fig. 9 is the perspective view two that walking of the invention has enough.
Figure 10 is the exploded view that walking of the invention has enough.
Figure 11 is the structure chart of cantilever boom hoisting of the invention.
Specific embodiment
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
For convenience of description, before right direction is in Fig. 1, front end, front, direction of advance, left direction be after, rear end, after
Portion, direction of retreat.
As shown in Figures 1 to 7, the embodiment of the present invention provides a kind of robot manipulating task equipment for building, including rack 100,
The rack 100 is equipped with apparatus for work 10, and the apparatus for work 10 includes main motor 11, the tooth being fixed in rack 100
Circle 12 and sleeve 13,11 output end of main motor are connected with motor shaft 14, are arranged with first gear 15 on the motor shaft 14,
The first gear 15 engages planet pinion 16, and the planet pinion 16 is engaged in the inside of gear ring 12, first tooth
Wheel 15, planet pinion 16 and gear ring 12 are in the same plane, the first gear 15, planet pinion 16 and 12 groups of gear ring
At a planetary gear construction, the central axis of the planet pinion 16 connects a crank 17, and the crank 17 includes setting
In the external member 171 of outer end, the axis 172 that is fixedly connected on planet pinion 16 and vertical connectivity kit 171 and axis 172
Radial rod piece 173, be arranged with the external member 171 in the sleeve 13, the external member 171 can be rotated relative to sleeve 13, institute
It states and is equipped with limit disk body 18 at the external end edge of external member 171, the both ends of the surface of the sleeve 13 are limited in limit disk body 18 and crank 17
Radial rod piece 173 between, first rotating shaft 19, the first rotating shaft 19, external member 171, sleeve 12 are arranged in the external member 171
It is coaxial arrangement with motor shaft 14, the motor shaft 14 is equipped with limited step 141, and the limited step 141 is set to first
It between gear 15 and main motor 11 and is adjacent in first gear 15, the first gear 15 is on the one side of external member 171
Equipped with the first cutting ferrule 20, the first rotating shaft stretches out the end face outside the external member 171 and close to the first cutting ferrule 20 and is equipped with the
Two cutting ferrules 21, the first rotating shaft 19 are equipped with second gear 22 far from the end face of the first cutting ferrule 20, the limit disk body 18
Lateral margin is equipped with strut 23, and the strut 23 is perpendicular to disk body 18 is limited, and rotation is equipped with third gear 24, institute on the strut 23
24 Vertical Meshing of second gear 22 and third gear is stated, the rotating middle shaft line of second gear is straight line where first rotating shaft, described
The center of third gear 24 is connected with L-type support rod 25, and the outer end of the L-type support rod 25 is equipped with operation head 26, and operation head can
To be watering tool, all kinds of detection instruments, searchlight etc., the lateral wall of the first rotating shaft 19 is equipped with groove 30, described
The setting direction of groove 30 and the axis perpendicular of first rotating shaft 19, the bottom of the groove 30 is equipped with the second pressure spring 31, described
The outer end of second pressure spring 31 is equipped with steel ball 32, on the inner sidewall of the external member 171 with that one is equipped at 30 opposite position of groove is shallow
Slot 33, second pressure spring 31 is supported the steel ball 32 and is placed in the shallow slot 33, so that external member 171 can drive first rotating shaft
19 rotate synchronously, and fastener 27 are equipped between first cutting ferrule 20 and the second cutting ferrule 21, it is fixed that the fastener 27 passes through
Position key 28 is sheathed on motor shaft 14, the positioning key 28 be set on motor shaft 14 and with axial parallel, the institute of motor shaft 14
It states and is equipped with keyway 271 in fastener 27 for accommodating the positioning key 28, the both ends of the surface of the fastener 27 are respectively provided with an engaging
Inclined-plane 272, the middle part of the fastener 27 are equipped with annular groove 273, are embedded with semi-circular actuator 29 on the annular groove 273,
29 bottom of semi-circular actuator is equipped with the first guide rod 34 vertically, and the lower end of first guide rod 34 vertically connects the second guide rod
35, second guide rod 35 is rotatably dispose on first rotating shaft seat 36, and the first rotating shaft seat 36 is fixed in rack 100, institute
State that the second guide rod 35 is horizontally disposed and parallel with motor shaft 14 setting, on second guide rod 35 far from the first guide rod 34 one
End is equipped with briquetting 37, is arranged with the first pressure spring 38 on second guide rod 35, and first pressure spring 38 is set to briquetting 37 and the
Between one shaft seat 36, first pressure spring 38 drives the compacting of briquetting 37 on limit disk body 18 and by semi-circular actuator 29
Fastener 27 is driven to be sticked on the second cutting ferrule 21, the lower end of first guide rod 34 is also vertically equipped with guiding axis 39, described to lead
To axis 39 and the perpendicular setting of the second guide rod 35, the second shaft seat 40, second shaft seat 40 are additionally provided in the rack 100
Upper rotation is equipped with the first rotating bar 41, and one end of first rotating bar 41 is vertically equipped with poke rod 42, and the other end is vertically equipped with
Handle 43, the poke rod 42 are equipped with U-type groove, and the U-type groove is embedded on the guiding axis 39, is passed through with handle described in this
Fastener 27 is driven to be sticked on the first cutting ferrule 20 for semi-circular actuator 29 so that motor shaft 14 drives first gear 15 to rotate.For
The frictional force between the annular groove in semi-circular actuator and fastener is reduced, can be coated on semi-circular actuator surface
Lubricant.When for operation handle, the first pressure spring forces briquetting compacting on limit disk body, while the first pressure spring is led by second
Bar drives the semi-circular actuator being connected on the first guide rod, forces the engaging inclined-plane on fastener to be sticked in the second cutting ferrule, at this time
Main motor drives motor shaft rotation, and since fastener and the first cutting ferrule are in disengaged position, motor shaft does not drive first gear to turn
Dynamic, since the press power that briquetting suppresses limit disk body is greater than the slippage power that steel ball is slipped from shallow slot, fastener engages the second cutting ferrule
Clamping force also greater than the slippage power that steel ball is slipped from shallow slot, so motor shaft passes through fastener and drives first rotating shaft rotation, set
Part is remain stationary, and first rotating shaft drives second gear rotation, and second gear acts industry head by Vertical Meshing third gear band and turns
Dynamic, operation head pivot point axis is the central axis of third gear position at this time；When operation handle drives the first rotating bar
Rotation drives the second guide rod mobile to main motor side, so that briquetting is detached from limit disk body, the second guide rod is driven on the first guide rod
Connected semi-circular actuator, force fastener to fasten with the first cutting ferrule, first gear is by limited step and fastener
Clamping action and rotated synchronously with motor shaft, first gear is engaged in planet pinion, and planet pinion drives crank rotation, bent
External member on handle drives first rotating shaft to rotate synchronously, and the second gear being connected at this time with first rotating shaft is around the central axes of first rotating shaft
Rotation, the limit disk body being connected with external member drive strut also to rotate around the central axes of first rotating shaft, third gear and strut it
Between keep opposing stationary motionless, third gear by L-type support rod drive operation head around first rotating shaft central axes rotate.Institute
State the transformation that apparatus for work is only achieved that the dimensional orientation of operation head by the evolution of fastener with a main motor, knot
Structure is reasonable, novel in design, has practicability.
As shown in Fig. 1, Fig. 8 to Figure 10, walking tool 50 enough, institute are respectively equipped on four angle points of the rack 100
Stating walking foot tool 50 includes the first support 52 being connected by the first rotation axis 51 with rack 100, and the first support 52 includes
The upper end of the mounting portion 521 of one setting parallel with the first rotation axis 51, the mounting portion 521 is connected by the second rotation axis 53
The lower end of second connecting rod 54, the mounting portion 521 connects third connecting rod 56 by third rotation axis 55, the second connecting rod 54
Outer end connects first support bar 58 by the 4th rotation axis 57, and the middle part of the first support bar 58 passes through the 5th rotation axis 59
It is connected to the outer end of third connecting rod 56, the bottom end of the first support bar 58 has a landing part 581, the mounting portion 521, the
Two connecting rods 54, third connecting rod 56 and first support bar 58 constitute the planar linkage mechanism of a parallelogram, the second rotation
Axis 53, third rotation axis 55, the 4th rotation axis 57 and the 5th rotation axis 59 are parallel to each other, and first rotation axis 51 is by the second electricity
Machine (not shown) drives its rotation, and the third rotation axis 55 drives its rotation by third motor (not shown), and described first turn
Moving axis is perpendicular to the second rotation axis；By the control of the second motor and third motor, landing part can realize the flexible of dimensional orientation
The flexible walking of rack can be achieved in movement, the cooperation having enough of being walked by four.
As shown in Fig. 1 and Figure 11, cantilever boom hoisting 70, the cantilever boom hoisting 70 are additionally provided in the rack 100
Including Rotary cloumn 71, cantilever 72, driving 73, lifting motor 74, translation motor 75, rotating electric machine 76, suspension hook 77 and it is set to machine
Pedestal 78 on frame 100, the Rotary cloumn 71 are rotatably installed on the pedestal 78 and are driven by the rotating electric machine 76
Dynamic rotation, the cantilever 72 are crossed out from the top of the Rotary cloumn 71, are formed with horizontal concrete chute in the cantilever 72, institute
It states translation motor 75 to be mounted in the driving 73 and the driving 73 is driven to slide along the horizontal concrete chute, is mounted on the row
The lifting motor 74 on vehicle 73 drives the lifting of suspension hook 77 with hoisting heavy.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, several improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (3)
1. a kind of robot manipulating task equipment for building, including rack, which is characterized in that set respectively on four angle points of the rack
There is a walking to have enough, tool includes the first support being connected by the first rotation axis with rack enough for the walking, and described first
Frame includes the mounting portion of a setting parallel with the first rotation axis, and the upper end of the mounting portion passes through the second rotation axis connection second
The lower end of connecting rod, the mounting portion rotates axis connection third connecting rod by third, and the outer end of the second connecting rod passes through the 4th
Axis connection first support bar is rotated, the middle part of the first support bar is connected to the outer end of third connecting rod by the 5th rotation axis
The bottom end in portion, the first support bar has landing part, the mounting portion, second connecting rod, third connecting rod and first support bar group
At the planar linkage mechanism of a parallelogram, first rotation axis is by its rotation of the second motor driven, the third
Rotation axis is by its rotation of third motor driven, and first rotation axis is perpendicular to the second rotation axis；
Cantilever boom hoisting is additionally provided in the rack, the cantilever boom hoisting includes Rotary cloumn, cantilever, driving, lifting
Motor, translation motor, rotating electric machine, suspension hook and the pedestal in rack, the Rotary cloumn are rotatably installed in described
It is driven on pedestal and by the rotating electric machine and is rotated, the cantilever is crossed out from the top of the Rotary cloumn, the cantilever
In be formed with horizontal first sliding groove, the translation motor is mounted in the driving and drives the driving sliding along described first
Slot sliding, the lifting motor being mounted in the driving drive the hook lifting with hoisting heavy.
2. robot manipulating task equipment for building according to claim 1, which is characterized in that the rack is filled equipped with operation
It sets, the apparatus for work includes the main motor, gear ring and sleeve being fixed in rack, and the main motor output end is connected with electricity
Arbor, first gear is arranged on the motor shaft, and the first gear engages planet pinion, the planet pinion engagement
In the inside of gear ring, the first gear, planet pinion and gear ring are in the same plane, the center of the planet pinion
A crank is connected at axis, the crank includes the external member for being set to outer end, the axis being fixedly connected on planet pinion and hangs down
The radial rod piece of direct-connected joint kit and axis is arranged with the external member in the sleeve, is equipped with limit at the external end edge of the external member
Position disk body, the both ends of the surface of the sleeve are limited between limit disk body and the radial rod piece of crank, and the is arranged in the external member
One shaft, the first rotating shaft, external member, sleeve and motor shaft are coaxial arrangement, and the motor shaft is equipped with limited step, described
Limited step is set between first gear and main motor and is adjacent in first gear, the first gear close to external member one
Side be equipped with the first cutting ferrule, the first rotating shaft close to an end face of the first cutting ferrule be equipped with the second cutting ferrule, described first turn
Axis is equipped with second gear far from the end face of the first cutting ferrule, and the lateral margin of the limit disk body is equipped with strut, and the strut is vertical
Third gear, the second gear and third gear Vertical Meshing, the third are equipped in rotation on limit disk body, the strut
The center of gear is connected with L-type support rod, and the outer end of the L-type support rod is equipped with operation head, the lateral wall of the first rotating shaft
It is equipped with groove, the setting direction of the groove and the axis perpendicular of first rotating shaft, the bottom of the groove is equipped with the second pressure
Spring, the outer end of second pressure spring are equipped with steel ball, on the inner sidewall of the external member with a shallow slot is equipped at groove opposite position,
Second pressure spring is supported the steel ball and is placed in the shallow slot, and card is equipped between first cutting ferrule and the second cutting ferrule
Component, the fastener are sheathed on motor shaft by positioning key, the positioning key be set on motor shaft and with motor shaft axis
Keyway is equipped with to parallel, in the fastener for accommodating the positioning key, the both ends of the surface of the fastener are respectively provided with a card
Inclined-plane is closed, the middle part of the fastener is equipped with annular groove, and semi-circular actuator is embedded on the annular groove, and the semi-circular drives
Moving part bottom is equipped with the first guide rod vertically, and the lower end of first guide rod vertically connects the second guide rod, the second guide rod rotation
It is set on first rotating shaft seat, the first rotating shaft seat is fixed in rack, and second guide rod is horizontally disposed with and and motor shaft
Parallel setting, one end on second guide rod far from the first guide rod are equipped with briquetting, are arranged with first on second guide rod
Pressure spring, first pressure spring are set between briquetting and first rotating shaft seat, and the first pressure spring driving briquetting compacting is in position-arresting disk
Fastener is driven to be sticked on the second cutting ferrule on body and by semi-circular actuator, the lower end of first guide rod is also vertically equipped with
Guiding axis, the guiding axis and the perpendicular setting of the second guide rod are additionally provided with the second shaft seat, second shaft in the rack
Rotation is equipped with the first rotating bar on seat, and one end of first rotating bar is vertically equipped with poke rod, and the other end is vertically equipped with handle,
The poke rod is equipped with U-type groove, and the U-type groove is embedded on the guiding axis, is driven with handle described in this by semi-circular
Fastener is driven to be sticked on the first cutting ferrule for part so that motor shaft drives first gear rotation.
3. robot manipulating task equipment for building according to claim 2, which is characterized in that first pressure spring forces in pressure
Block makes the press power of briquetting compacting limit disk body be greater than the slippage power that steel ball is slipped from shallow slot, and fastener engages the second cutting ferrule
Clamping force also greater than the slippage power that steel ball is slipped from shallow slot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810709147.6A CN108890653A (en) | 2018-07-02 | 2018-07-02 | A kind of robot manipulating task equipment for building |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810709147.6A CN108890653A (en) | 2018-07-02 | 2018-07-02 | A kind of robot manipulating task equipment for building |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108890653A true CN108890653A (en) | 2018-11-27 |
Family
ID=64347584
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810709147.6A Withdrawn CN108890653A (en) | 2018-07-02 | 2018-07-02 | A kind of robot manipulating task equipment for building |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108890653A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116636517A (en) * | 2023-05-08 | 2023-08-25 | 广东海洋大学 | Agricultural spraying robot |
-
2018
- 2018-07-02 CN CN201810709147.6A patent/CN108890653A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116636517A (en) * | 2023-05-08 | 2023-08-25 | 广东海洋大学 | Agricultural spraying robot |
| CN116636517B (en) * | 2023-05-08 | 2023-10-27 | 广东海洋大学 | Agricultural spraying robot |
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Application publication date: 20181127 |
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Addressee: Zhang Dan Rong Document name: Notification of Approving Refund |