CN110344859A - A kind of driving structure and master manipulator, secondary manipulator - Google Patents
A kind of driving structure and master manipulator, secondary manipulator Download PDFInfo
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- CN110344859A CN110344859A CN201910661871.0A CN201910661871A CN110344859A CN 110344859 A CN110344859 A CN 110344859A CN 201910661871 A CN201910661871 A CN 201910661871A CN 110344859 A CN110344859 A CN 110344859A
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- 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 41
- 230000007246 mechanism Effects 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 4
- 238000000465 moulding Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 description 8
- 230000008901 benefit Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000001627 detrimental effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000005641 tunneling Effects 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
- B25J18/00—Arms
-
- 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
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/14—Lining predominantly with metal
- E21D11/18—Arch members ; Network made of arch members ; Ring elements; Polygon elements; Polygon elements inside arches
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/40—Devices or apparatus specially adapted for handling or placing units of linings or supporting units for tunnels or galleries
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of driving structure and master manipulators, secondary manipulator, driving structure, including pedestal and the manipulator being hinged on pedestal, the manipulator is hinged with the first actuator of driving manipulator rotation, first actuator is connected with the second actuator for changing the first actuator position, second actuator is arranged in pedestal, the position of the first actuator is adjusted by the second actuator, when manipulator turns to the second position by first position, the second actuator of front section adjusts the position of the first actuator along manipulator rotation direction, it can accelerate swing speed, it realizes and quickly swings, when machinery is quick-moving is rocked to the second position, second actuator adjusts the position of the first actuator, first actuator is not run itself, to realize the position of the first actuator of small angle vernier adjustable, realize the first actuator Fine tuning to manipulator is able to achieve the swing of manipulator swinging end 10-15 mm/second.
Description
Technical field
The present invention relates to mechanical arms, more particularly to a kind of driving structure and master manipulator, secondary manipulator.
Background technique
In existing tunneling, the length direction along tunnel is needed to set multiple steel arch-shelfs to prevent Tunnel Landslide, in order to
It meets the requirements, the length of each steel arch-shelf is also corresponding larger, therefore, usually in the construction process, steel arch-shelf can be split as more
A arch section, arch trolley are clamped arch section to installation site by working arm.
Mechanical arm is driven by way of an oil cylinder directly drives either oil cylinder+double leval jib mostly on arch trolley
It is dynamic, but above two structure is when pose calibrating position, it is hydraulic due to being limited to the adjusting stroke of hydraulic valve and oil cylinder
It has been the limit that cylinder speed arrives 2-3 mm/second slowly, and under the premise of this speed, the linear velocity of rocker arm swinging end is also up to 40-
80 mm/seconds are highly detrimental to the adjustment calibration of clamping workpiece, i.e., working arm very cannot accurately reach installation site.
Summary of the invention
The technical problem to be solved by the present invention is to provide a kind of driving structure for arch trolley working arm, can make work
Make arm and very accurately reaches installation site.
The technical solution of the invention is as follows, provides a kind of driving structure having following structure, including pedestal and hinged
Manipulator on pedestal, the manipulator are hinged with the first actuator of driving manipulator rotation, first driving
Part is connected with the second actuator for changing the first actuator position, and second actuator is arranged in pedestal.
Preferably, second actuator includes the second cylinder body and to be slidably connected at the second cylinder intracorporal second flexible
Bar, second cylinder body are fixedly connected on pedestal, and second telescopic rod end is connect with the first actuator.
Preferably, first actuator includes the first cylinder body and to be slidably connected at the first cylinder intracorporal first flexible
Bar, first telescopic rod and manipulator are hinged.
Preferably, second telescopic rod is fixedly connected with the first cylinder body.
Preferably, second telescopic rod and the first cylinder body are hinged.
Preferably, end and second telescopic rod of first cylinder body far from the first telescopic rod are hinged.
Preferably, the pedestal includes support frame, and second cylinder body is fixedly connected in support frame.
Preferably, second actuator is horizontally disposed, and second actuator drives the first actuator
It moves in the horizontal direction on edge.
After using the above structure, driving structure of the invention has the advantage that by second compared with prior art
Actuator adjusts the position of the first actuator, and when manipulator turns to the second position by first position, front section second is driven
Moving part adjusts the position of the first actuator along manipulator rotation direction, it can accelerates swing speed, realizes and quickly swing, work as machine
Tool is quick-moving when being rocked to the second position, and the second actuator adjusts the position of the first actuator, and the first actuator is not run itself, with
The position for realizing the first actuator of small angle vernier adjustable, that is, realize fine tuning of first actuator to manipulator, be able to achieve manipulator
The swing of swinging end 10-15 mm/second greatly reduces swing speed, that is, the fine tuning of angle is able to achieve, conducive to clamping workpiece
Adjustment calibration, manipulator very can accurately reach installation site.
Another technical solution of the invention is to provide a kind of master manipulator having following structure, including pedestal, machine
Tool hand and the first collet for clamping workpiece, including any of the above-described driving structure, the manipulator include outer tube and inner tube, institute
The lower end and base rotation for stating outer tube cooperate, and for driving outer tube to rotate, said inner tube is slidably matched first actuator
In in outer tube, inner tube is placed on outside outer tube away from the upper end of pedestal, and the upper end of first collet and inner tube is rotatably assorted, described
The two sides of outer tube are separately installed with for against workpiece and pushing the power arm raised of workpiece.
After using the above structure, master manipulator of the invention has the advantage that firstly, passing through compared with prior art
Master manipulator clamping workpiece and utilize two sides two power arms be lifted workpiece, therefore using hydraulic-driven power arm carrying
Power is far longer than conventional joint Manipulator, while arch angle may be implemented by the cooperation of stroke between two power arms
The adjusting of degree and position, therefore degree of regulation is good, the inner tube on master manipulator can be made in weight secondly, devising and resetting drag-line
It has not been able to can use the active segment on power arm in the case where resetting the inner tube on the master manipulator is driven to be forced under power effect
It resets, improves equipment global reliability, thirdly, bracket is set in the upper end of power arm, therefore can effectively lift workpiece
And workpiece is avoided to slip from power arm along thickness direction, finally, the machine that this mechanical arm of the present patent application is more conventional
For not having any high performance requirement in terms of material for tool arm, while overall structure is simple, and only needs to control two
The coordinated between driver on a power arm, therefore control system is simple, degree of regulation is high, finally makes entirety
Equipment cost is lower, the position of the first actuator is adjusted by the second actuator, when manipulator turns to second by first position
When position, the second actuator of front section adjusts the position of the first actuator along manipulator rotation direction, it can accelerates to swing
Speed realizes and quickly swings that, when machinery is quick-moving is rocked to the second position, the second actuator adjusts the position of the first actuator,
First actuator is not run itself, to realize the position of the first actuator of small angle vernier adjustable, that is, realizes the first actuator to machine
The fine tuning of tool hand is able to achieve the swing of manipulator swinging end 10-15 mm/second, greatly reduces swing speed, that is, be able to achieve angle
The fine tuning of degree is calibrated conducive to the adjustment of clamping workpiece, and manipulator very can accurately reach installation site.
Another technical solution of the invention is to provide a kind of secondary manipulator having following structure, including pedestal, institute
It states and is hinged with manipulator on pedestal, including any of the above-described driving structure, the end of the manipulator is hinged with the second collet, and institute
It states and the first auxiliary drive mechanism is installed between the second collet and the manipulator and realizes swinging up and down for the second collet；The machine
Tool hand includes several joint arm sections, and passes through articulated manner between several joint arm sections and be sequentially connected in series molding, in the arm section
Swaying direction side is equipped with the second auxiliary drive mechanism and realizes swinging for entire manipulator.
After using the above structure, secondary manipulator of the invention has the advantage that compared with prior art and leads to arm body
The arm section for crossing more piece hingedly forms, and realizes by each driving mechanism the angular adjustment of the left and right range of arm body, and on collet
Bracket be used to adjust the overlying relation of the arch being clipped on clamper main body, driven by the first auxiliary body, so that support
Frame can make upper lower camber side movement around the hinge joint of robot end, so that arch may make to realize the fine tuning in up and down direction；
Have the advantages that structure novel, multi-faceted angular adjustment, using flexible, the position of the first actuator is adjusted by the second actuator
It sets, when manipulator turns to the second position by first position, the second actuator of front section is adjusted along manipulator rotation direction
The position of first actuator, it can quickening swing speed realizes and quickly swing that machinery is quick-moving to be rocked to the second position when working as
When, the second actuator adjusts the position of the first actuator, and the first actuator is not run itself, to realize that small angle vernier adjustable first drives
The position of moving part realizes fine tuning of first actuator to manipulator, be able to achieve manipulator swinging end 10-15 mm/second
It swings, greatly reduces swing speed, that is, be able to achieve the fine tuning of angle, calibrated conducive to the adjustment of clamping workpiece, manipulator energy ten
Divide and accurately reaches installation site.
Detailed description of the invention
Fig. 1 is master manipulator structural schematic diagram one of the invention.
Fig. 2 is master manipulator structural schematic diagram two of the invention.
Fig. 3 be in Fig. 2 along A-A the schematic diagram of the section structure.
Fig. 4 is secondary manipulator structural schematic diagram of the invention.
It is as shown in the figure: 1, pedestal；2, manipulator；21, outer tube；22, inner tube；23, arm section；3, the first actuator；31, first
Cylinder body；32, the first telescopic rod；4, the second actuator；41, the second cylinder body；42, the second telescopic rod；5, the first collet；6, power
Arm；7, the second collet；71, clamper main body；72, bracket；8, the first auxiliary drive mechanism；9, the second auxiliary drive mechanism.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples.
Embodiment one
It please refers to shown in Fig. 1, Fig. 2, Fig. 3, driving structure of the invention, including pedestal 1 and the manipulator being hinged on pedestal 12,
The manipulator 2 is hinged with the first actuator 3 of the rotation of driving manipulator 2, and first actuator 3 is connected with change the
Second actuator 4 of one actuator, 3 position, second actuator 4 are arranged in pedestal 1.The is adjusted by the second actuator 4
The position of one actuator 3, when manipulator 2 turns to the second position by first position, front section the second actuator 4 is along machinery
2 rotation direction of hand adjusts the position of the first actuator 3, it can accelerates swing speed, realizes and quickly swing, when manipulator 2 is fast
When being rocked to the second position, the second actuator 4 adjusts the position of the first actuator 3, and the first actuator 3 is not run, small to realize
The position of the first actuator of angle adjustment 3 realizes fine tuning of first actuator 3 to manipulator 2, be able to achieve the pendulum of manipulator 2
The swing of moved end 10-15 mm/second greatly reduces swing speed, that is, is able to achieve the fine tuning of angle.
And the first actuator 3 can be arranged according to the articulated position between manipulator 2 and pedestal 1, and the second actuator 4 can
To be configured according to the position of the first actuator 3, as long as the position of the first actuator 3 can be adjusted along 2 swaying direction of manipulator
The adjusting that can be thus achieved to swing speed is set, the fine tuning of angle can not only be quickly adjusted and be able to achieve, conducive to clamping workpiece
Adjustment calibration, the second actuator 4 can be horizontally disposed with, be vertically arranged or be obliquely installed.
First actuator 3 and the second actuator 4 are the actuator changed in length, such as oil cylinder, cylinder, screw rod
Deng.
Embodiment two
It please refers to shown in Fig. 1, Fig. 2, Fig. 3, driving structure of the invention, including pedestal 1 and the manipulator being hinged on pedestal 12,
The manipulator 2 is hinged with the first actuator 3 of the rotation of driving manipulator 2, and first actuator 3 is connected with change the
Second actuator 4 of one actuator, 3 position.
First actuator 3 includes the first cylinder body 31 and the first telescopic rod being slidably connected in the first cylinder body 31
32, first telescopic rod 32 and manipulator 2 are hinged.It can be effectively adjusted with manipulator 2, second actuator 4
Setting is in pedestal 1, and second actuator 4 includes the second cylinder body 41 and what is be slidably connected in the second cylinder body 41 second stretch
Contracting bar 42, second cylinder body 41 are fixedly connected on pedestal 1, and 42 end of the second telescopic rod and the first actuator 3 connect
It connects.Support manipulator 2 can be stablized by the way that the second cylinder body 41 is fixedly connected on pedestal 1, and can quickly can be stretched by second
The position of the first cylinder body 31 is adjusted in bar 42, and structure is simpler reliable, and can greatly reduce to 3 position of the first actuator
Influence, overall volume is small.
The pedestal 1 includes support frame, and second cylinder body 41 is fixedly connected in support frame, can be further reduced whole
Body volume, and by built in the second actuator 4, operation stability is improved, and the second cylinder body 41 can be clasped to horizontally disposed, raising tune
Save efficiency.
Embodiment three
Basic structure is identical as the work embodiment two of arm configuration, and difference is: second telescopic rod 42 and the first cylinder body
31 are fixedly connected.It is fixedly connected and refers to and be equipped with the structure that the second telescopic rod 42 can be fixedly connected with the first cylinder body 31, i.e., the
One actuator 3 and the second actuator 4 achieve a fixed connection when part-time is run, i.e. the first actuator 3 and the second actuator 4
Between angle it is constant, adjusting mechanical arm run when, the first actuator 3 and the second actuator 4 will necessarily be run simultaneously, pass through second
Actuator 4 adjusts the position of the first actuator 3 along 2 rotation direction of manipulator, it can accelerates swing speed, realizes quickly pendulum
It moves, or adjusts the position of the first actuator 3 along the inverse direction that manipulator 2 rotates by the second actuator 4, that is, cancel out each other
Displacement stroke greatly reduces the first actuator 3 to the driving speed of manipulator 2, is able to achieve 2 swinging end 10-15 of manipulator
The swing of mm/second greatly reduces swing speed, that is, is able to achieve the fine tuning of angle.
Example IV
Basic structure is identical as the work embodiment two of arm configuration, and difference is: second telescopic rod 42 and the first cylinder body
31 is hinged.That is angle can change between the first actuator 3 and the second actuator 4, and when adjusting mechanical arm is run, first is driven
Moving part 3 and the second actuator 4 be run when can be different, i.e., independent first actuator 3 or the movement of the second actuator 4 can also be with, or
Person's the first actuator 3 and the second actuator 4 can be run simultaneously, and in other words, the first actuator 3 and the second actuator 4 are not
There is the limitation cooperateed on stroke, adjusting is freer, can adjust in several ways.
2 position of manipulator can be adjusted by independent first actuator 3 or the movement of the second actuator 4, due to the
Not in same horizontal line, energy multi-angle is adjusted, and can be with the second actuator 4 along machinery for one actuator 3 or the second actuator 4
2 rotation direction of hand adjusts the position of the first actuator 3, it can accelerates swing speed, realizes quickly swing or the second driving
Part 4 adjusts the position of the first actuator 3, and the first actuator 3 is not run, to realize the position of the first actuator of small angle vernier adjustable 3,
It realizes the first actuator 3 and the fine tuning of manipulator 2 or the second actuator 4 is adjusted along the inverse direction that manipulator 2 rotates
The position of first actuator 3, that is, displacement stroke of cancelling out each other greatly reduce the first actuator 3 to the driving speed of manipulator 2
Degree, is able to achieve the swing of 2 swinging end 10-15 mm/second of manipulator, greatly reduces swing speed, that is, be able to achieve the micro- of angle
It adjusts.
End of first cylinder body 31 far from the first telescopic rod 32 and the second telescopic rod 42 are hinged, can be more accurate fast
The position of the first actuator of adjusting 3 of speed.Second actuator 4 is horizontally disposed, and second actuator 4 drives
Dynamic first actuator 3 moves in the horizontal direction, reliable for operation, support manipulator 2 that can be more stable, and can be in inverse direction
The fine tuning of angle can be more accurately realized when adjusting the position of the first actuator 3.Hinge position between manipulator 2 and pedestal 1
It sets low in 4 position of the second actuator, can be carried out resigning and be arranged convenient for the first actuator 3 and the second actuator 4.
Embodiment five
It please refers to shown in Fig. 1, Fig. 2, Fig. 3, a kind of master manipulator 2 having following structure, including pedestal 1, manipulator 2 and is used for
First collet 5 of clamping workpiece, including any of the above-described driving structure, the manipulator 2 includes outer tube 21 and inner tube 22, described outer
The lower end of pipe 21 is rotatably assorted with pedestal 1, and first actuator 3 for driving outer tube 21 to rotate, slide by said inner tube 22
It is matched in outer tube 21, inner tube 22 is placed on outside outer tube 21 away from the upper end of pedestal 1, and first collet 5 is upper with inner tube 22
End is rotatably assorted, and the two sides of the outer tube 21 are separately installed with for against workpiece and pushing the power arm 6 raised of workpiece, first
First, workpiece is lifted using two power arms 6 of two sides by 2 clamping workpiece of master manipulator, therefore utilizes the dynamic of hydraulic-driven
The bearing capacity of the arm of force 6 is far longer than conventional joint Manipulator 2, while by the cooperation of stroke between two power arms 6, can
To realize the adjusting of arch angles and positions, therefore degree of regulation is good, can make master manipulator secondly, devising and resetting drag-line
The active segment that inner tube 22 on 2 has not been able to can use on power arm 6 in the case where resetting under the effect of gravity drives the host
22 forced resetting of inner tube on tool hand 2 improves equipment global reliability, thirdly, bracket is arranged in the upper end of power arm 6, because
This can effectively lift workpiece and workpiece is avoided to slip from power arm 6 along thickness direction, finally, the present patent application
For not having any high performance requirement, while overall structure letter in terms of material for the more conventional mechanical arm of this mechanical arm
It is single, and only need to control the coordinated between the driver on two power arms 6, therefore control system is simple, it adjusts
It is high to save precision, finally making integral device, cost is relatively low, and the position of the first actuator 3 is adjusted by the second actuator 4, works as machinery
When hand 2 turns to the second position by first position, the second actuator of front section 4 adjusts first along 2 rotation direction of manipulator and drives
The position of moving part 3, it can accelerate swing speed, realizes and quickly swing, when manipulator 2 is rocked to the second position fastly, second
Actuator 4 adjusts the position of the first actuator 3, and the first actuator 3 is not run, to realize the first actuator of small angle vernier adjustable 3
Position realizes fine tuning of first actuator 3 to manipulator 2, be able to achieve the pendulum of 2 swinging end 10-15 mm/second of manipulator
It is dynamic, swing speed is greatly reduced, that is, is able to achieve the fine tuning of angle, is calibrated conducive to the adjustment of clamping workpiece, manipulator 2 can be very
Accurately reach installation site.
Embodiment six
It please refers to shown in Fig. 2, Fig. 3, Fig. 4, a kind of secondary manipulator having following structure, including pedestal 1, is cut with scissors on the pedestal 1
It is connected to manipulator 2, including any of the above-described driving structure, the end of the manipulator 2 is hinged with the second collet 7, and described second
First auxiliary drive mechanism 8 is installed between collet 7 and the manipulator 2 and realizes swinging up and down for the second collet 7；The machinery
Hand 2 includes several joint arm sections 23, and passes through articulated manner between several joint arm sections 23 and be sequentially connected in series molding, in the arm section
23 swaying direction side is equipped with the second auxiliary drive mechanism 9 and realizes swinging for entire manipulator 2, the second collet 7 packet
Clamper main body 71, bracket 72 are included, one end of the bracket 72 is hinged with the clamper main body 71 and is hinged on the machinery together
The end of hand 2 is connected between the other end and the manipulator 2 of the bracket 72 by the first auxiliary body 8, the bracket 72
It is movably connected, arm body is hingedly formed by the arm section 23 of more piece, and pass through between main body and the main body of the clamper main body 71
Each driving mechanism realizes the angular adjustment of the left and right range of arm body, and the bracket 72 on the second collet 7 is used to adjust to be clipped in
The overlying relation of the arch of head main body 71, is driven by the first auxiliary body 8, so that bracket 72 can surround 2 end of manipulator
The hinge joint in portion makees upper lower camber side movement, so that arch may make to realize the fine tuning in up and down direction；With structure novel, in many ways
The advantages of position angular adjustment, using flexible, the position of the first actuator 3 is adjusted by the second actuator 4, when manipulator 2 is by the
When one position turns to the second position, the second actuator of front section 4 adjusts the first actuator 3 along 2 rotation direction of manipulator
Position, it can accelerate swing speed, realizes and quickly swing, when manipulator 2 is rocked to the second position fastly, the second actuator 4
The position of the first actuator 3 is adjusted, the first actuator 3 is not run, to realize the position of the first actuator of small angle vernier adjustable 3, i.e.,
Fine tuning of first actuator 3 to manipulator 2 is realized, the swing of 2 swinging end 10-15 mm/second of manipulator is able to achieve, drops significantly
Low swing speed, that is, be able to achieve the fine tuning of angle, calibrates conducive to the adjustment of clamping workpiece, manipulator 2 very can be arrived accurately
Up to installation site.
The above is only a preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
Those of ordinary skill for, several improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of driving structure, including pedestal (1) and the manipulator (2) being hinged on pedestal (1), the manipulator (2) hinge
It is connected to the first actuator (3) of driving manipulator (2) rotation, it is characterised in that: first actuator (3) is connected with change
Second actuator (4) of the first actuator (3) position, second actuator (4) are arranged in pedestal (1).
2. driving structure according to claim 1, it is characterised in that: second actuator (4) includes the second cylinder body
(41) and the second telescopic rod (42) for being slidably connected in the second cylinder body (41), second cylinder body (41) are fixedly connected on
Pedestal (1), the second telescopic rod (42) end are connect with the first actuator (3).
3. driving structure according to claim 2, it is characterised in that: first actuator (3) includes the first cylinder body
(31) and the first telescopic rod (32) for being slidably connected in the first cylinder body (31), first telescopic rod (32) and manipulator
(2) hinged.
4. driving structure according to claim 3, it is characterised in that: second telescopic rod (42) and the first cylinder body
(31) it is fixedly connected.
5. driving structure according to claim 3, it is characterised in that: second telescopic rod (42) and the first cylinder body
(31) hinged.
6. driving structure according to claim 5, it is characterised in that: first cylinder body (31) is far from the first telescopic rod
(32) end and the second telescopic rod (42) is hinged.
7. driving structure according to claim 2, it is characterised in that: the pedestal (1) includes support frame (11), described
The second cylinder body (41) be fixedly connected in support frame (11).
8. driving structure according to claim 1, it is characterised in that: second actuator (4) is set in the horizontal direction
It sets, the second actuator (4) driving the first actuator (3) edge is moved in the horizontal direction.
9. a kind of master manipulator, including pedestal (1), manipulator (2) and for the first collet (5) of clamping workpiece, feature exists
In: including driving structure described in claim 1-8, the manipulator (2) includes outer tube (21) and inner tube (22), the outer tube
(21) lower end is rotatably assorted with pedestal (1), and first actuator (3) is for driving outer tube (21) to rotate, said inner tube
(22) it is snug fit in outer tube (21), inner tube (22) is placed on outer tube (21) outside away from the upper end of pedestal (1), first folder
Head (5) and the upper end of inner tube (22) are rotatably assorted, and the two sides of the outer tube (21) are separately installed with for against workpiece and promotion
The power arm (6) that workpiece is raised.
10. a kind of pair manipulator, including pedestal (1), it is characterised in that: it is hinged with manipulator (2) on the pedestal (1), including
The end of driving structure described in claim 1-8, the manipulator (2) is hinged with the second collet (7), and second collet
(7) the first auxiliary body (8) is installed between the manipulator (2) and realizes swinging up and down for the second collet (7)；The machinery
Hand (2) includes several joint arm sections (23), and passes through articulated manner between several joint arm sections (23) and be sequentially connected in series molding, in institute
The swaying direction side for stating arm section (23) is equipped with the second auxiliary drive mechanism (9) and realizes swinging for entire manipulator (2),
Second collet (7) includes clamper main body (71), bracket (72), and one end of the bracket (72) and the main folder head (71) are hinged simultaneously
It is hinged on the end of the manipulator (2) together, it is auxiliary by first between the other end and the manipulator (2) of the bracket (72)
It helps mechanism (8) to connect, is movably connected between the main body of the bracket (72) and the main body of the main folder head (71).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910661871.0A CN110344859A (en) | 2019-07-22 | 2019-07-22 | A kind of driving structure and master manipulator, secondary manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910661871.0A CN110344859A (en) | 2019-07-22 | 2019-07-22 | A kind of driving structure and master manipulator, secondary manipulator |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2734749A1 (en) * | 1995-05-29 | 1996-12-06 | Leseure Michel | High speed programmable manipulator |
| CN2734468Y (en) * | 2004-08-26 | 2005-10-19 | 龙超祥 | Plastic rubber fuel oil tank welding manipulator |
| CN103753526A (en) * | 2013-12-30 | 2014-04-30 | 重庆交通大学 | Precise positionable and compensable heavy-load mechanical arm |
| CN107339073A (en) * | 2017-07-28 | 2017-11-10 | 西安石油大学 | A kind of ground drilling rod lifting jack |
| CN109209452A (en) * | 2018-11-22 | 2019-01-15 | 长沙科达智能装备股份有限公司 | A kind of multiple arch clamping manipulator |
| CN208531649U (en) * | 2018-08-06 | 2019-02-22 | 中国铁建重工集团有限公司 | Tunnel steel arch frame installation manipulator and robot work platform |
| CN210239708U (en) * | 2019-07-22 | 2020-04-03 | 江西鑫通机械制造有限公司 | Drive structure, main manipulator and auxiliary manipulator |
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2019
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2734749A1 (en) * | 1995-05-29 | 1996-12-06 | Leseure Michel | High speed programmable manipulator |
| CN2734468Y (en) * | 2004-08-26 | 2005-10-19 | 龙超祥 | Plastic rubber fuel oil tank welding manipulator |
| CN103753526A (en) * | 2013-12-30 | 2014-04-30 | 重庆交通大学 | Precise positionable and compensable heavy-load mechanical arm |
| CN107339073A (en) * | 2017-07-28 | 2017-11-10 | 西安石油大学 | A kind of ground drilling rod lifting jack |
| CN208531649U (en) * | 2018-08-06 | 2019-02-22 | 中国铁建重工集团有限公司 | Tunnel steel arch frame installation manipulator and robot work platform |
| CN109209452A (en) * | 2018-11-22 | 2019-01-15 | 长沙科达智能装备股份有限公司 | A kind of multiple arch clamping manipulator |
| CN210239708U (en) * | 2019-07-22 | 2020-04-03 | 江西鑫通机械制造有限公司 | Drive structure, main manipulator and auxiliary manipulator |
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