CN109986531A - A kind of marine maintenance cooperation manipulator - Google Patents
A kind of marine maintenance cooperation manipulator Download PDFInfo
- Publication number
- CN109986531A CN109986531A CN201910348936.6A CN201910348936A CN109986531A CN 109986531 A CN109986531 A CN 109986531A CN 201910348936 A CN201910348936 A CN 201910348936A CN 109986531 A CN109986531 A CN 109986531A
- Authority
- CN
- China
- Prior art keywords
- arm
- manipulator
- pedestal
- degree
- folded sheet
- 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
- 238000012423 maintenance Methods 0.000 title claims abstract description 16
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 38
- 210000001145 finger joint Anatomy 0.000 claims description 18
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 7
- 239000000741 silica gel Substances 0.000 claims description 7
- 229910002027 silica gel Inorganic materials 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 206010061258 Joint lock Diseases 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- 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
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- 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
-
- 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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of marine maintenance cooperation manipulators, including pedestal, universal wheel, first arm, second arm, accurate flexible rotating platform, six degree of freedom soft readjustment component and flexible clamping manipulator, folded sheet is installed on pedestal, adjusting hydraulic stem is installed between folded sheet and pedestal, universal wheel is installed on folded sheet, first arm is installed on pedestal, second arm is installed on the first arm, accurate flexible rotating platform is installed on the second arm, six degree of freedom soft readjustment component is installed on accurate flexible rotating platform, the top of six degree of freedom soft readjustment component is equipped with flexible clamping manipulator.The present invention passes through the pedestal of setting, universal wheel, the first arm, the second arm, accurate flexible rotating platform, six degree of freedom soft readjustment component and flexible clamping manipulator, it is bulky to solve entire manipulator, it is not easy to move, it is not easy to that clamping and folding and unfolding is rapidly completed, is not easy to the problem of debugging to manipulator.
Description
Technical field
The present invention relates to flight-line maintenance manipulator technical field, specially a kind of marine maintenance cooperation manipulator.
Background technique
When some maritime vehicles such as steamer at sea need maintenance, individual part needs mutual disassembly and An
Dress, personnel labor intensity is big, when encountering the sea situation disliked and omited with repairing for a long time, cannot be safeguarded by artificial normal mounting, and have
A little components are mostly nonstandard component, and maintenance is inconvenient.
But existing technology has the following deficiencies:
1, entire manipulator is bulky, is not easy to move,
2, it is not easy to that clamping and folding and unfolding is rapidly completed,
3, it is not easy to debug manipulator.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of marine maintenance cooperation manipulator, entire machine is solved
Tool hand is bulky, is not easy to move, and is not easy to that clamping and folding and unfolding is rapidly completed, and be not easy to debug manipulator asks
Topic.
It is easy to use the technical problem to be solved in the present invention is to provide a kind of structurally reasonable, by simple regulating mechanism,
Device can be adjusted to the probe that laser probe angle is finely adjusted.
To realize above-mentioned target, the technical solution of the present invention is as follows: a kind of marine maintenance cooperation manipulator, including pedestal,
Universal wheel, the first arm, the second arm, accurate flexible rotating platform, six degree of freedom soft readjustment component and flexible clamping are mechanical
Hand is equipped with folded sheet on pedestal, adjusting hydraulic stem is equipped between folded sheet and pedestal, is equipped with universal wheel on folded sheet,
First arm is installed on pedestal, the second arm is installed on the first arm, accurate flexible rotating is installed flat on the second arm
Platform is equipped with six degree of freedom soft readjustment component, the top peace of six degree of freedom soft readjustment component on accurate flexible rotating platform
Equipped with flexible clamping manipulator, flexible clamping manipulator connects by the way that manipulator fixing seat and six degree of freedom soft readjustment component are fixed
It connects.
Further, the corner location that folded sheet is mounted on pedestal goes out, and folded sheet and pedestal are rotatablely connected, folded sheet and tune
Hydraulic stem rotation connection is saved, folded sheet and universal wheel are rotatablely connected, and are equipped with hand traction bar on pedestal, hand traction bar passes through
Rotation seat and pedestal are rotatablely connected.
Further, the first arm is fixedly connected by connection base of mechanical hand with pedestal, and the first arm and manipulator connect
Joint chair rotation connection, is equipped with the second hydraulic stem between the first arm and connection base of mechanical hand, the first arm and the second arm turn
Dynamic connection, is equipped with the first hydraulic stem between the first arm and the second arm, the second arm and accurate flexible rotating platform rotate
Connection is equipped with third hydraulic stem between the second arm and accurate flexible rotating platform.
Further, six degree of freedom soft readjustment component is made of adjusting cylinder, adjusting cylinder fixing seat and attachment base, adjusts cylinder
Upper and lower ends be mounted on adjust cylinder fixing seat, adjust cylinder fixing seat on attachment base is installed.
Further, it adjusts cylinder and is provided with three groups, and adjusting every group of cylinder is two, six degree of freedom soft readjustment component passes through
Attachment base is fixedly connected with accurate flexible rotating platform, and six degree of freedom soft readjustment component passes through attachment base and manipulator fixing seat
It is fixedly connected.
Further, there are four the settings of flexible clamping manipulator, flexible clamping manipulator is made of mechanical finger segments, and
It is rotatablely connected between manipulator finger joint, the top of manipulator finger joint is equipped with silica gel cushion, and the lower part of manipulator finger joint is equipped with
Manual finger joint locking knob.
Compared with prior art, the invention has the following advantages that
1. by the folded sheet of setting, adjusting hydraulic stem and universal wheel, when needing to move the manipulator in use, adjust
Section hydraulic stem operation pushes folded sheet to rotate on the base, and folded sheet drives on universal wheel, and its pedestal is jacked up from ground
Come, pulls hand traction bar then to move the manipulator, when being moved to specified location, adjust hydraulic stem operation and drive
Universal wheel is packed up in folded sheet rotation, and for pedestal again with the ground face contact fixing seat manipulator, structure is simple at this time, is convenient for universal wheel
Expansion and recycling, to move the manipulator easily and fast, entire manipulator moves simple and convenient, practical, solution
Entire manipulator of having determined is bulky, is not easy to mobile problem.
2. when flexible clamping manipulator clamping grabs article, flexible clamping is mechanical by the flexible clamping manipulator of setting
Hand is unfolded, and rotates between manipulator finger joint and its silica gel cushion is against on the article of crawl, so that the clamping of article is completed, it is flexible
Clamping manipulator is made up of multiple manipulator finger joints, to facilitate the article of manipulator crawl different size, and manipulator
Silica gel cushion in finger joint can play protective action when grabbing article, damage product when manipulator being avoided to grab article, greatly
The big safety for improving the manipulator and using, solves the problems, such as to be not easy to that clamping and folding and unfolding is rapidly completed.
3. needing to debug flexible clamping by the first arm, the second arm and the six degree of freedom flexible clamping component of setting
When the position of manipulator, the first hydraulic stem, the second hydraulic stem and the operation of third hydraulic stem drive the first arm and the second arm to move
Move the expansion for completing mechanical arm, while the article of mobile clamping, the adjusting on the component of six degree of freedom soft readjustment at the same time
Cylinder operation is flexible, to drive flexible clamping manipulator mobile, the movement and debugging of different angle is completed, to be clamped
Article is moved to specified location, and the position of manipulator is adjusted using six degree of freedom flexible clamping component, completes convenient for manipulator
The adjusting of omnidirectional solves so that convenient grabbed and fixed to the article of all angles and is not easy to adjust manipulator
The problem of examination.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention,
Fig. 2 is universal wheel raised configuration schematic diagram in Fig. 1 of the present invention,
Fig. 3 is flexible clamping manipulator folding condition schematic diagram in Fig. 1 of the present invention,
Fig. 4 is flexible clamping manipulator and six degree of freedom soft readjustment component connection schematic diagram in Fig. 1 of the present invention,
Fig. 5 is the jacking status diagram of the first arm and the second arm in Fig. 1 of the present invention.
Drawing explanation: 1, pedestal, 2, folded sheet, 3, adjusting hydraulic stem, 4, universal wheel, 5, hand traction bar, 6, rotation seat,
7, the first arm, the 8, second arm, the 9, first hydraulic stem, 10, accurate flexible rotating platform, 11, six degree of freedom soft readjustment group
Part, 12, manipulator fixing seat, 13, flexible clamping manipulator, 14, manipulator finger joint, 15, silica gel cushion, 16, manual finger joint lock
Tight knob, 17, adjusting cylinder, 18, adjusting cylinder fixing seat, 19, attachment base, 20, connection base of mechanical hand, the 21, second hydraulic stem, 22,
Third hydraulic stem.
Specific embodiment
In the description of the present invention, it is to be understood that, term " longitudinal direction ", " transverse direction ", "upper", "lower", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown is merely for convenience of the description present invention, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In conjunction with attached drawing, the technical schemes of the invention are described in detail, a kind of marine maintenance cooperation manipulator, including pedestal 1,
Universal wheel 4, the first arm 7, the second arm 8, accurate flexible rotating platform 10, six degree of freedom soft readjustment component 11 and flexible folder
Manipulator 13 is held, folded sheet 2 is installed on pedestal, is equipped between folded sheet and pedestal and adjusts hydraulic stem 3, installed on folded sheet
There is universal wheel, the corner location that folded sheet is mounted on pedestal goes out, and folded sheet and pedestal are rotatablely connected, folded sheet and adjusting hydraulic stem
Rotation connection, folded sheet and universal wheel are rotatablely connected, and hand traction bar 5 is equipped on pedestal, and hand traction bar passes through rotation seat 6
It is rotatablely connected with pedestal, the first arm is installed on pedestal, the second arm is installed on the first arm, is equipped on the second arm
Accurate flexible rotating platform, the first arm are fixedly connected by connection base of mechanical hand 20 with pedestal, and the first arm and manipulator
Attachment base rotation connection, is equipped with the second hydraulic stem 21, the first arm and second-hand between the first arm and connection base of mechanical hand
Arm rotation connection is equipped with the first hydraulic stem 9, the second arm and accurate flexible rotating platform between the first arm and the second arm
Rotation connection, is equipped with third hydraulic stem 22 between the second arm and accurate flexible rotating platform, on accurate flexible rotating platform
Six degree of freedom soft readjustment component is installed, the top of six degree of freedom soft readjustment component is equipped with flexible clamping manipulator, soft
Property clamping manipulator setting there are four, flexible clamping manipulator be made of mechanical finger segments 14, and between manipulator finger joint turn
Dynamic connection, the top of manipulator finger joint are equipped with silica gel cushion 15, and the lower part of manipulator finger joint is equipped with manual finger joint locking rotating
Button 16, flexible clamping manipulator are fixedly connected by manipulator fixing seat 12 with six degree of freedom soft readjustment component, six degree of freedom
Soft readjustment component by adjusting cylinder 17, adjust cylinder fixing seat 18 and attachment base 19 and form, the power source that adjusting cylinder can be it is pneumatic,
Hydraulic hydraulic cylinder or cylinder, the upper and lower ends for adjusting cylinder, which are mounted on, adjusts cylinder fixing seat, adjusts and is equipped in cylinder fixing seat
Attachment base adjusts cylinder and is provided with three groups, and adjusting every group of cylinder is two, and six degree of freedom soft readjustment component passes through attachment base and essence
Close flexible rotating platform is fixedly connected, and six degree of freedom soft readjustment component is fixedly connected by attachment base with manipulator fixing seat.
When needing to move the manipulator in use, adjusts hydraulic stem operation and folded sheet is pushed to rotate on the base,
Folded sheet drives on universal wheel, and its pedestal is jacked up to come from ground, pulls hand traction bar then to move the machine
Tool hand, when being moved to specified location, adjust hydraulic stem operation Foldable plate rotation packs up universal wheel, at this time pedestal again with
The ground face contact fixing seat manipulator, when flexible clamping manipulator clamping grabs article, the expansion of flexible clamping manipulator, manipulator
Its silica gel cushion is against on the article of crawl by rotation between finger joint, to complete the clamping of article, needs to debug flexible clamping
When the position of manipulator, the first hydraulic stem, the second hydraulic stem and the operation of third hydraulic stem drive the first arm and the second arm to move
Move the expansion for completing mechanical arm, while the article of mobile clamping, the adjusting on the component of six degree of freedom soft readjustment at the same time
Cylinder operation is flexible, to drive flexible clamping manipulator mobile, the movement and debugging of different angle is completed, to be clamped
Article is moved to specified location.
The present invention passes through the pedestal being arranged, universal wheel, the first arm, the second arm, accurate flexible rotating platform, six freely
Soft readjustment component and flexible clamping manipulator are spent, it is bulky to solve entire manipulator, is not easy to move, be not easy to quickly
Clamping and folding and unfolding are completed, the problem of debugging to manipulator is not easy to.
Basic principle of the invention, main feature and advantage has been shown and described above, do not depart from spirit of that invention and
Under the premise of range, there are also various changes and modifications, these changes and improvements to both fall within claimed invention by the present invention
Range.
Claims (6)
1. a kind of marine maintenance cooperation manipulator, including pedestal, universal wheel, the first arm, the second arm, accurate flexible rotating
Platform, six degree of freedom soft readjustment component and flexible clamping manipulator, it is characterised in that: folded sheet is installed on pedestal, is folded
Adjusting hydraulic stem is installed between plate and pedestal, universal wheel is installed on folded sheet, the first arm is installed on pedestal, it is first-hand
Second arm is installed on arm, accurate flexible rotating platform is installed on the second arm, is equipped on accurate flexible rotating platform
The top of six degree of freedom soft readjustment component, six degree of freedom soft readjustment component is equipped with flexible clamping manipulator, flexible clamping
Manipulator is fixedly connected by manipulator fixing seat with six degree of freedom soft readjustment component.
2. a kind of marine maintenance cooperation manipulator according to claim 1, it is characterised in that: folded sheet is mounted on pedestal
Corner location go out, folded sheet and pedestal are rotatablely connected, and folded sheet and adjust hydraulic stem rotation connection, folded sheet and universal rotation
It is dynamic to connect, hand traction bar is installed, hand traction bar is rotatablely connected by rotation seat and pedestal on pedestal.
3. a kind of marine maintenance cooperation manipulator according to claim 1, it is characterised in that: the first arm passes through machinery
Hand attachment base is fixedly connected with pedestal, and the first arm and connection base of mechanical hand are rotatablely connected, and the first arm is connect with manipulator
Second hydraulic stem is installed, the first arm and the second arm are rotatablely connected, install between the first arm and the second arm between seat
Have the first hydraulic stem, the second arm and accurate flexible rotating platform are rotatablely connected, the second arm and accurate flexible rotating platform it
Between third hydraulic stem is installed.
4. a kind of marine maintenance cooperation manipulator according to claim 1, it is characterised in that: six degree of freedom soft readjustment
Component is made of adjusting cylinder, adjusting cylinder fixing seat and attachment base, and the upper and lower ends for adjusting cylinder, which are mounted on, adjusts cylinder fixing seat, is adjusted
Attachment base is installed in section cylinder fixing seat.
5. a kind of marine maintenance cooperation manipulator according to claim 4, it is characterised in that: adjust cylinder and be provided with three
Group, and adjusting every group of cylinder is two, six degree of freedom soft readjustment component passes through attachment base and the fixed company of accurate flexible rotating platform
It connects, six degree of freedom soft readjustment component is fixedly connected by attachment base with manipulator fixing seat.
6. a kind of marine maintenance cooperation manipulator according to claim 1, it is characterised in that: flexible clamping manipulator is set
There are four setting, flexible clamping manipulator is made of mechanical finger segments, and is rotatablely connected between manipulator finger joint, manipulator finger joint
Top silica gel cushion is installed, the lower part of manipulator finger joint is equipped with manual finger joint locking knob.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910348936.6A CN109986531A (en) | 2019-04-28 | 2019-04-28 | A kind of marine maintenance cooperation manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910348936.6A CN109986531A (en) | 2019-04-28 | 2019-04-28 | A kind of marine maintenance cooperation manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109986531A true CN109986531A (en) | 2019-07-09 |
Family
ID=67133162
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910348936.6A Pending CN109986531A (en) | 2019-04-28 | 2019-04-28 | A kind of marine maintenance cooperation manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109986531A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110449856A (en) * | 2019-08-21 | 2019-11-15 | 苏州阿特拉斯机器人系统工程有限公司 | A kind of multifunction manipulator for the installation of highly integrated ion purifier stack of laminations |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100097311A (en) * | 2009-02-26 | 2010-09-03 | (주)스맥 | Unmanned system for a machine tool using a mobile robot |
| CN202344546U (en) * | 2011-11-23 | 2012-07-25 | 重庆交通大学 | Manipulator assembly of flexible fingers |
| CN104227696A (en) * | 2013-06-20 | 2014-12-24 | 盐城市昱博自动化设备有限公司 | Constant pressure control assisted manipulator |
| CN105858193A (en) * | 2016-05-24 | 2016-08-17 | 陈薇 | Crawler type intelligent transferring equipment for water conservancy and hydropower pipelines |
| CN105999594A (en) * | 2016-06-28 | 2016-10-12 | 安徽扫宝智能科技有限公司 | Intelligent fire fighting robot |
| CN107225587A (en) * | 2017-06-27 | 2017-10-03 | 哈尔滨工程大学 | It is a kind of to be used for the lossless form adaptive robot manipulator structure fished for of benthon |
| CN109018055A (en) * | 2018-07-16 | 2018-12-18 | 安徽工程大学 | Six wheel legged type robots |
| CN209831624U (en) * | 2019-04-28 | 2019-12-24 | 新乡市永安机械设备有限公司 | Offshore maintenance is with cooperation manipulator |
-
2019
- 2019-04-28 CN CN201910348936.6A patent/CN109986531A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100097311A (en) * | 2009-02-26 | 2010-09-03 | (주)스맥 | Unmanned system for a machine tool using a mobile robot |
| CN202344546U (en) * | 2011-11-23 | 2012-07-25 | 重庆交通大学 | Manipulator assembly of flexible fingers |
| CN104227696A (en) * | 2013-06-20 | 2014-12-24 | 盐城市昱博自动化设备有限公司 | Constant pressure control assisted manipulator |
| CN105858193A (en) * | 2016-05-24 | 2016-08-17 | 陈薇 | Crawler type intelligent transferring equipment for water conservancy and hydropower pipelines |
| CN105999594A (en) * | 2016-06-28 | 2016-10-12 | 安徽扫宝智能科技有限公司 | Intelligent fire fighting robot |
| CN107225587A (en) * | 2017-06-27 | 2017-10-03 | 哈尔滨工程大学 | It is a kind of to be used for the lossless form adaptive robot manipulator structure fished for of benthon |
| CN109018055A (en) * | 2018-07-16 | 2018-12-18 | 安徽工程大学 | Six wheel legged type robots |
| CN209831624U (en) * | 2019-04-28 | 2019-12-24 | 新乡市永安机械设备有限公司 | Offshore maintenance is with cooperation manipulator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110449856A (en) * | 2019-08-21 | 2019-11-15 | 苏州阿特拉斯机器人系统工程有限公司 | A kind of multifunction manipulator for the installation of highly integrated ion purifier stack of laminations |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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Application publication date: 20190709 |