CN113459067B - Suspended manned manipulator device - Google Patents
Suspended manned manipulator device Download PDFInfo
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- CN113459067B CN113459067B CN202110784073.4A CN202110784073A CN113459067B CN 113459067 B CN113459067 B CN 113459067B CN 202110784073 A CN202110784073 A CN 202110784073A CN 113459067 B CN113459067 B CN 113459067B
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- supporting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/002—Balancing devices using counterweights
Abstract
The invention discloses a suspended manned manipulator device which comprises a translation mechanism, a rotating mechanism, a long arm swinging mechanism, a short arm swinging mechanism, an operating platform and a cross beam, wherein the cross beam is horizontally arranged and is installed below a roof in a suspended mode, the translation mechanism is installed below the cross beam and can translate along the cross beam, the rotating mechanism is installed below the translation mechanism, the top end of the long arm swinging mechanism is installed on the rotating mechanism, the rotating mechanism can drive the long arm swinging mechanism to rotate in the horizontal direction, the bottom end of the long arm swinging mechanism is connected with one end of the short arm swinging mechanism, and the other end of the short arm swinging mechanism is connected with the operating platform. The suspended manned manipulator device has high automation degree and can realize omnibearing moving and fixed-point work.
Description
Technical Field
The invention relates to a suspended manipulator device, in particular to a manned manipulator device, and belongs to the field of mechanical equipment.
Background
The manipulator is an automatic operating device which can imitate certain action functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to a fixed program.
In an indoor high-altitude and wall surface work scene, particularly under the condition of carrying people, a series of problems of severe environment, difficult movement, difficult fixed point, inaccurate motion track and the like exist in high-altitude operation.
At present, carry the application of thing robotic arm and mainly carry out the centre gripping through modes such as atmospheric pressure to the goods and lift up, control robotic arm's dynamics has the degree of difficulty, need carry out the cooperation work through structures such as a large amount of inner structure and air throttle, and the cost of manufacture is higher, needs multiple modes such as electricity commentaries on classics gas to go on, is unfavorable for maintenance and maintenance. Chinese patent document CN106239475B (application number: 201610822849.6) discloses a suspension type pneumatic balance transfer robot, which mainly includes: the device comprises a track system, a running trolley, a mechanical arm, a pneumatic clamp and a pneumatic control system; the track system is in rolling connection with the running trolley; the running trolley is connected with the pneumatic clamp through the mechanical arm and can run on the track system automatically or manually; the mechanical arm is a hard arm type mechanical arm and is fixedly connected with the running trolley; the pneumatic control system enables the mechanical arm to be in a gravity balance state, so that an operator can easily clamp, move, assemble and position heavy objects up, down, left and right. The manipulator adopts a pneumatic mode, is not accurate and stable enough in operation and positioning, has small carrying capacity, and is not suitable for carrying people.
Disclosure of Invention
The invention aims to solve the technical problem of providing a suspended manned manipulator device which has high automation degree, can realize all-directional movement, runs stably and is positioned accurately.
The invention provides a technical scheme for solving the technical problems, which comprises the following steps: the utility model provides a suspension type manned manipulator device, includes translation mechanism, rotary mechanism, long arm swing mechanism, short armed swing mechanism, operation platform and crossbeam, the crossbeam hangs to be installed in the roof below, translation mechanism installs in the below of crossbeam and can be along the crossbeam translation, rotary mechanism installs translation mechanism's below, long arm swing mechanism's top is installed rotary mechanism is last, rotary mechanism can drive long arm swing mechanism rotates in the horizontal direction, long arm swing mechanism's bottom with short armed swing mechanism's one end links to each other, short armed swing mechanism's the other end links to each other with operation platform.
The short arm swinging mechanism comprises a short supporting arm, a driving short arm, a supporting seat, a driving seat, a short arm driving assembly and a counterweight assembly, and the short supporting arm, the operating platform, the driving short arm and the supporting seat are sequentially and rotatably connected to form a parallelogram mechanism.
The driving short arm is positioned below the short supporting arm, and the supporting seat is movably connected to the bottom end of the long arm swinging mechanism. One end fixed connection of drive seat is in on the drive short arm and follow the rotation junction of drive short arm and supporting seat is to keeping away from the direction of drive short arm extends, short arm drive assembly acts on thereby the other end drive that the drive short arm was kept away from to the drive seat the drive short arm swings, thereby counter weight component acts on downwards thereby the other end that the drive short arm was kept away from to the drive seat shares operation platform's bearing weight.
The short arm driving assembly comprises a speed reducing motor, a swinging gear and a motor base, the motor base is fixedly connected to the supporting base, the speed reducing motor is installed in the motor base, and the swinging gear is fixedly sleeved on a motor shaft of the speed reducing motor; the driving seat is close to the driving short arm and is located the main part of a straight line with the driving short arm, and keeps away from the rack portion of driving short arm and perpendicular to main part, one side edge that rack portion is close to short arm drive assembly is equipped with the swing rack, the swing gear meshes with the swing rack mutually.
The counterweight assembly comprises a counterweight cylinder and a fixing frame, the fixing frame is fixedly connected to the supporting seat and extends obliquely upwards, the cylinder body end of the counterweight cylinder is hinged to one end, far away from the supporting seat, of the fixing frame, and the push rod end of the counterweight cylinder is hinged to the rack portion.
The supporting seat comprises two flat plates of two parallel interval settings and two dull and stereotyped back shaft of both ends fixed connection, operation platform comprises manned footboard and two blocks of curb plates of connecting in manned footboard both sides respectively, short support arm and drive short arm all are equipped with two of symmetry, and two drive short arms are close to the one end of supporting seat and are in the same place through the first pivot fixed connection who passes the supporting seat, and the one end that two short support arms are close to the supporting seat is in the same place through the second pivot fixed connection who passes the supporting seat, the one end that the supporting seat was kept away from to short support arm and drive short arm articulates respectively on corresponding curb plate.
The long arm swinging mechanism comprises a driving long arm, a long supporting arm, a driving servo motor, a connecting piece, a reduction box and a turntable bearing, wherein the driving long arm, the connecting piece, the long supporting arm and the supporting seat are sequentially and rotatably connected to form a parallelogram mechanism; the driving servo motor and the reduction gearbox are fixedly connected to one side of the connecting piece, a motor shaft of the driving servo motor is connected with a power input unit of the reduction gearbox, a power output unit of the reduction gearbox penetrates through the connecting piece to be coaxially connected with the driving long arm, a rotary table bearing coaxially connected with the driving long arm is arranged on the other side of the connecting piece, the driving long arm is located above the long supporting arm, and the top of the connecting piece is mounted on the rotating mechanism through a flange.
In order to make the whole mechanism more stable in operation, the long supporting arm is rotatably connected to the supporting seat through a third rotating shaft penetrating through the supporting seat, the first rotating shaft, the second rotating shaft and the third rotating shaft are distributed in a triangular mode, and the supporting shaft is located at the center of the triangle.
The rotary mechanism comprises a box body, a worm gear, a worm, a rotary motor, an upper bearing seat, a lower bearing seat, a main shaft and a chassis flange, wherein the upper bearing seat is fixedly connected to the top of the box body, the upper bearing is installed in the upper bearing seat, the lower bearing seat is fixedly connected to the bottom of the box body, the lower bearing is installed in the lower bearing seat, the worm gear is located in the box body, the main shaft is vertically arranged, and the upper bearing, the worm gear and the lower bearing are sequentially sleeved from top to bottom and fixed to the main shaft.
The rotary motor is fixed on one side of the box body, the worm is horizontally arranged in the box body and is rotationally connected with the box body, the worm is meshed with the worm gear, and a motor shaft of the rotary motor extends into the box body and is connected with the worm through a coupler. The chassis flange is fixedly connected to the bottom end of the main shaft, and the top of the connecting piece is fixedly connected to the bottom of the chassis flange.
Translation mechanism includes mount pad, translation servo motor, translation gear, translation rack, guide rail and slider, the crossbeam level sets up, the guide rail sets up and fixed connection on the crossbeam along the length direction of crossbeam, slider sliding connection is in on the guide rail, the mount pad is located the below and the fixed connection of crossbeam on the slider, the translation rack sets up and fixed connection on the slider along the length direction of crossbeam, translation servo motor passes through motor cabinet fixed connection on the crossbeam, the cover is established and is fixed with the translation gear on translation servo motor's the motor shaft, the translation gear meshes with the translation rack mutually, rotary mechanism installs on the mount pad.
The top of the mounting seat is provided with two horizontally arranged mounting plates, two guide rails are respectively and fixedly connected to two sides of the cross beam, two sliding blocks are connected to each guide rail in a sliding mode, the sliding blocks on the two guide rails are arranged in a pairwise symmetrical mode, and each pair of sliding blocks is fixedly connected to the corresponding mounting plate.
In order to ensure the rigidity of the supporting arm, the long supporting arm and the short supporting arm are provided with a plurality of round holes arranged at intervals side by side along the length direction.
And the operating platform is provided with a tool mounting seat. The device not only can carry people, also can be through various instruments of instrument mount pad assembly to realize multiple functions.
The invention has the positive effects that:
(1) according to the balance weight assembly of the suspended manned manipulator device, the push rod of the balance weight cylinder acts downwards on the other end, far away from the driving short arm, of the driving seat through the lever principle so as to share the bearing weight of the operation platform, the swinging positioning is more accurate through the driving of the motor gear rack, and the safety and the stability of workers on the operation platform in the operation process are guaranteed through the combination of the speed reduction motor and the balance weight cylinder.
(2) The long arm swinging mechanism and the short arm swinging mechanism of the suspended manned manipulator device are both parallelogram mechanisms, are stable in operation and high in bearing capacity, are respectively controlled by the speed reducing motor and the driving servo motor, increase the overall activity of the whole manipulator device, avoid serious consequences of incapability of operation due to insufficient rigidity, and avoid potential safety hazards. The whole suspended manned manipulator device can realize all-dimensional movement and fixed-point work by the addition of the translation mechanism and the rotation mechanism.
(3) The first rotating shaft, the second rotating shaft and the third rotating shaft of the suspended manned manipulator device are distributed in a triangular shape, the support shaft is positioned at the center of the triangle, the stability of connection of the long arm swing mechanism and the short arm swing mechanism is guaranteed, and the problem of conflict between the quadrilateral freedom degree of movement and the stable operation is solved skillfully by utilizing the position advantage of the triangle in operation and running.
Drawings
The suspended manned robot apparatus of the present invention will be further described with reference to the accompanying drawings.
FIG. 1 is an exploded view of the suspended manned robot apparatus of this embodiment 1;
FIG. 2 is a view showing the construction of the suspended manned robot apparatus of this embodiment 1;
fig. 3 is a partially enlarged view of a point a in fig. 2.
The above reference numerals are as follows:
the translation mechanism 1, the mounting base 11, the mounting plate 111, the translation servo motor 12, the translation gear 13, the guide rail 14, the slider 15, the translation rack 16, the rotation mechanism 2, the case 21, the worm gear 22, the rotation motor 23, the upper bearing 24, the upper bearing base 25, the lower bearing 26, the lower bearing base 27, the worm 28, the chassis flange 29, the long arm swing mechanism 3, the driving long arm 31, the long support arm 32, the driving servo motor 33, the connecting member 34, the reduction gearbox 35, the turntable bearing 36, the short arm swing mechanism 4, the short support arm 41, the driving short arm 42, the support base 44, the flat plate 441, the support shaft 442, the first rotation shaft 443, the second rotation shaft 444, the third rotation shaft 445, the driving base 45, the rack portion 451, the swing rack 452, the main body portion 453, the short arm driving assembly 46, the reduction motor 461, the swing gear 462, the motor base 463, the counterweight assembly 47, the counterweight cylinder 471, the fixing frame 472, an operating platform 5, a manned pedal 51, a side plate 52 and a cross beam 6.
Detailed Description
Example 1
Referring to fig. 1 to 3, the suspended manned manipulator device of the embodiment includes a translation mechanism 1 for controlling horizontal movement of the manipulator device, a rotation mechanism 2 for controlling horizontal rotation of the manipulator device, a long arm swing mechanism 3 for controlling vertical swing of the manipulator device, a short arm swing mechanism 4 for controlling vertical swing of the manipulator device, an operation platform 5 for standing staff, and a beam 6 for suspending the entire suspended manned manipulator device, wherein the beam 6 is horizontally arranged and suspended below a roof, the translation mechanism 1 is installed below the beam 6 and can translate along the beam 6, the rotation mechanism 2 is installed below the translation mechanism 1, the top end of the long arm swing mechanism 3 is installed on the rotation mechanism 2, the rotation mechanism 2 can drive the long arm swing mechanism 3 to rotate in the horizontal direction, the bottom end of the long arm swing mechanism 3 is connected with one end of the short arm swing mechanism 4, the other end of the short arm swinging mechanism 4 is connected with an operation platform 5.
In order to increase the mobility and rigidity of the short arm swing mechanism 4, the short arm swing mechanism 4 includes a short support arm 41, a driving short arm 42, a support seat 44, a driving seat 45, a short arm driving assembly 46 and a counterweight assembly 47, and the short support arm 41, the operation platform 5, the driving short arm 42 and the support seat 44 are sequentially and rotatably connected to form a parallelogram mechanism. The driving short arm 42 is positioned below the short supporting arm 41, and the supporting seat 44 is movably connected to the bottom end of the long arm swinging mechanism 3.
Because of the weight difference of each staff, in order to guarantee the security of staff and the stability in the operation process, the one end fixed connection of drive seat 45 is on drive short arm 42 and extends to the direction of keeping away from drive short arm 42 from the rotation junction of drive short arm 42 and supporting seat 44, thereby short arm drive assembly 46 acts on drive seat 45 and keeps away from the other end drive short arm 42 of drive short arm 42 and swings, thereby counter weight component 47 acts on drive seat 45 downwards and keeps away from the other end of drive short arm 42 thereby shares the bearing weight of operation platform 5.
The short arm driving assembly 46 includes a reduction motor 461, a swing gear 462, a motor seat 463, the motor seat 463 is fixedly connected to the supporting seat 44, the reduction motor 461 is installed in the motor seat 463, and the swing gear 462 is fixedly sleeved on the motor shaft of the reduction motor 461. The driving base 45 is divided into a main body 453 close to the driving short arm 42 and in a straight line with the driving short arm 42, and a rack 451 far from the driving short arm 42 and perpendicular to the main body 453, a swing rack 452 is provided at one side edge of the rack 451 close to the short arm driving assembly 46, and a swing gear 462 is engaged with the swing rack 452. Counterweight assembly 47 includes counterweight cylinder 471 and mount 472, and mount 472 fixed connection just extends to oblique top on supporting seat 44, and counterweight cylinder 471's cylinder body end articulates the one end of keeping away from supporting seat 44 at mount 472, and counterweight cylinder 471's push rod end articulates on rack portion 451.
The supporting seat 44 is composed of two flat plates 441 arranged in parallel at intervals and supporting shafts 442 fixedly connected with the two flat plates 441 at two ends, the operating platform 5 is composed of a manned pedal 51 and two side plates 52 respectively connected with two sides of the manned pedal 51, the short supporting arms 41 and the short driving arms 42 are respectively provided with two symmetrical parts, one ends of the two short driving arms 42 close to the supporting seat 44 are fixedly connected together through a first rotating shaft 443 penetrating through the supporting seat 44, one ends of the two short supporting arms 41 close to the supporting seat 44 are fixedly connected together through a second rotating shaft 444 penetrating through the supporting seat 44, and one ends of the short supporting arms 41 and one ends of the short driving arms 42 far away from the supporting seat 44 are respectively hinged on the corresponding side plates 52.
The long arm swinging mechanism 3 comprises a driving long arm 31, a long supporting arm 32, a driving servo motor 33, a connecting piece 34, a reduction gearbox 35 and a turntable bearing 36, wherein the driving long arm 31, the connecting piece 34, the long supporting arm 32 and a supporting seat 44 are sequentially and rotatably connected to form a parallelogram mechanism; the driving servo motor 33 and the reduction gearbox 35 are fixedly connected to one side of the connecting piece 34, a motor shaft of the driving servo motor 33 is connected with a power input unit of the reduction gearbox 35, a power output unit of the reduction gearbox 35 penetrates through the connecting piece 34 to be coaxially connected with the driving long arm 31, a turntable bearing 36 which is coaxially connected with the driving long arm 31 is arranged on the other side of the connecting piece 34, the driving long arm 31 is located above the long supporting arm 32, and the top of the connecting piece 34 is installed on the rotating mechanism 2 through a flange.
In order to ensure the stability of the connection of the long arm swing mechanism 3 and the short arm swing mechanism 4 without affecting the mobility of the respective mechanisms, the long support arm 32 is rotatably connected to the support base 44 by a third rotating shaft 445 that passes through the support base 44, and the first rotating shaft 443, the second rotating shaft 444, and the third rotating shaft 445 are distributed in a triangle, and the support shaft 442 is located at the center position of the triangle.
The rotating mechanism 2 comprises a box body 21, a worm gear 22, a worm 28, a rotating motor 23, an upper bearing 24, an upper bearing seat 25, a lower bearing 26, a lower bearing seat 27, a main shaft and a chassis flange 29, wherein the upper bearing seat 25 is fixedly connected to the top of the box body 21, the upper bearing 24 is installed in the upper bearing seat 25, the lower bearing seat 27 is fixedly connected to the bottom of the box body 21, the lower bearing 26 is installed in the lower bearing seat 27, the worm gear 22 is located in the box body 21, the main shaft is vertically arranged, and the upper bearing 24, the worm gear 22 and the lower bearing 26 are sequentially sleeved and fixed on the main shaft from top to bottom. The rotating motor 23 is fixed on one side of the box body 21, the worm 28 is horizontally arranged in the box body 21 and is in rotating connection with the box body 21, the worm 28 is meshed with the worm gear 22, a motor shaft of the rotating motor 23 extends into the box body 21 and is connected with the worm 28 through a coupler, the chassis flange 29 is fixedly connected to the bottom end of the main shaft, and the top of the connecting piece 34 is fixedly connected to the bottom of the chassis flange 29.
The translation mechanism 1 comprises a mounting seat 11, a translation servo motor 12, a translation gear 13, a translation rack 16, a guide rail 14 and a slide block 15; guide rail 14 sets up and fixed connection on crossbeam 6 along the length direction of crossbeam 6, 15 sliding connection of slider are on guide rail 14, mount pad 11 is located the below and fixed connection of crossbeam 6 on slider 15, translation rack 16 sets up and fixed connection on slider 15 along the length direction of crossbeam 6, translation servo motor 12 passes through motor cabinet fixed connection on crossbeam 6, the cover is established on translation servo motor 12's the motor shaft and is fixed with translation gear 13, translation gear 13 meshes with translation rack 16 mutually, rotary mechanism 2 installs on mount pad 11.
Two horizontally arranged mounting plates 111 are arranged at the top of the mounting base 11, two guide rails 14 are respectively and fixedly connected to two sides of the cross beam 6, two sliding blocks 15 are slidably connected to each guide rail 14, the sliding blocks 15 on the two guide rails 14 are symmetrically arranged in pairs, and each pair of sliding blocks 15 is fixedly connected to the corresponding mounting plate 111.
In order to ensure the rigidity and strength of the long support arm 32 and the short support arm 41, the long support arm 32 and the short support arm 41 are provided with a plurality of circular holes arranged side by side at intervals along the length direction.
The suspension type manned manipulator device of this embodiment, when using, through handheld device signals of telecommunication with manipulator device's operation platform 5 to subaerial, the staff stands in operation platform and ties up the safety rope, and the rethread handheld device sends different signal of telecommunication instructions, thereby controls operation platform 5 through translation mechanism 1, rotary mechanism 2, long arm swing mechanism 3 and short arm swing mechanism 4 and realizes indoor all direction movement fixed point work.
Example 2
The suspended manned manipulator device of the embodiment is the same as the suspended manned manipulator device of the embodiment 1, except that: the operation platform 5 is provided with a tool mounting seat, and various tools can be assembled on the tool mounting seat.
It should be understood that the above-described embodiments are merely examples provided for clearly illustrating the embodiments of the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And such obvious variations or modifications which fall within the spirit of the invention are intended to be covered by the scope of the present invention.
Claims (9)
1. The utility model provides a but manned manipulator device of suspension formula which characterized in that: the roof beam lifting mechanism comprises a translation mechanism (1), a rotating mechanism (2), a long arm swinging mechanism (3), a short arm swinging mechanism (4), an operating platform (5) and a cross beam (6), wherein the cross beam (6) is installed below a roof in a hanging manner, the translation mechanism (1) is installed below the cross beam (6) and can translate along the cross beam (6), the rotating mechanism (2) is installed below the translation mechanism (1), the top end of the long arm swinging mechanism (3) is installed on the rotating mechanism (2), the rotating mechanism (2) can drive the long arm swinging mechanism (3) to rotate in the horizontal direction, the bottom end of the long arm swinging mechanism (3) is connected with one end of the short arm swinging mechanism (4), and the other end of the short arm swinging mechanism (4) is connected with the operating platform (5);
the short arm swinging mechanism (4) comprises a short supporting arm (41), a driving short arm (42), a supporting seat (44), a driving seat (45), a short arm driving component (46) and a counterweight component (47), wherein the short supporting arm (41), the operating platform (5), the driving short arm (42) and the supporting seat (44) are sequentially and rotatably connected to form a parallelogram mechanism; the driving short arm (42) is positioned below the short supporting arm (41), and the supporting seat (44) is movably connected to the bottom end of the long arm swinging mechanism (3); one end of the driving seat (45) is fixedly connected to the driving short arm (42) and extends from the rotating connection position of the driving short arm (42) and the supporting seat (44) to the direction far away from the driving short arm (42), the short arm driving component (46) acts on the other end, far away from the driving short arm (42), of the driving seat (45) so as to drive the driving short arm (42) to swing, and the counterweight component (47) acts downwards on the other end, far away from the driving short arm (42), of the driving seat (45) so as to share the bearing weight of the operating platform (5); the short arm driving assembly (46) comprises a speed reducing motor (461), a swinging gear (462) and a motor base (463), the motor base (463) is fixedly connected to the supporting base (44), the speed reducing motor (461) is installed in the motor base (463), and the swinging gear (462) is fixedly sleeved on a motor shaft of the speed reducing motor (461); the driving seat (45) is divided into a main body part (453) which is close to the driving short arm (42) and is positioned on a straight line with the driving short arm (42), and a rack part (451) which is far away from the driving short arm (42) and is vertical to the main body part (453), a swinging rack (452) is arranged at one side edge of the rack part (451) close to the short arm driving assembly (46), and the swinging gear (462) is meshed with the swinging rack (452); the counterweight assembly (47) comprises a counterweight cylinder (471) and a fixing frame (472), the fixing frame (472) is fixedly connected to the supporting seat (44) and extends obliquely upwards, the cylinder body end of the counterweight cylinder (471) is hinged to one end, far away from the supporting seat (44), of the fixing frame (472), and the push rod end of the counterweight cylinder (471) is hinged to the rack portion (451).
2. The suspended manned robot apparatus of claim 1 wherein: the supporting seat (44) is composed of two flat plates (441) which are arranged in parallel at intervals and a supporting shaft (442) of which two ends are fixedly connected with the two flat plates (441), the operating platform (5) is composed of a manned pedal (51) and two side plates (52) which are respectively connected to two sides of the manned pedal (51), two symmetrical short supporting arms (41) and two symmetrical driving short arms (42) are arranged, one ends of the two driving short arms (42) close to the supporting seat (44) are fixedly connected together through a first rotating shaft (443) penetrating through the supporting seat (44), one ends of the two short supporting arms (41) close to the supporting seat (44) are fixedly connected together through a second rotating shaft (444) penetrating through the supporting seat (44), and one ends of the short supporting arms (41) and the driving short arms (42) far away from the supporting seat (44) are respectively hinged to the corresponding side plates (52).
3. The suspended manned robot apparatus of claim 2 wherein: the long arm swinging mechanism (3) comprises a driving long arm (31), a long supporting arm (32), a driving servo motor (33), a connecting piece (34), a reduction box (35) and a turntable bearing (36), wherein the driving long arm (31), the connecting piece (34), the long supporting arm (32) and a supporting seat (44) are sequentially and rotatably connected to form a parallelogram mechanism; the driving servo motor (33) and the reduction gearbox (35) are fixedly connected to one side of the connecting piece (34), a motor shaft of the driving servo motor (33) is connected with a power input unit of the reduction gearbox (35), a power output unit of the reduction gearbox (35) penetrates through the connecting piece (34) to be coaxially connected with the driving long arm (31), a turntable bearing (36) coaxially connected with the driving long arm (31) is arranged on the other side of the connecting piece (34), the driving long arm (31) is located above the long supporting arm (32), and the top of the connecting piece (34) is mounted on the rotating mechanism (2) through a flange.
4. The suspended manned robot apparatus of claim 3 wherein: the long supporting arm (32) is rotatably connected to the supporting seat (44) through a third rotating shaft (445) penetrating through the supporting seat (44), the first rotating shaft (443), the second rotating shaft (444) and the third rotating shaft (445) are distributed in a triangular shape, and the supporting shaft (442) is located at the center of the triangular shape.
5. The suspended manned robot apparatus of claim 4 wherein: the rotating mechanism (2) comprises a box body (21), a worm gear (22), a worm (28), a rotating motor (23), an upper bearing (24), an upper bearing seat (25), a lower bearing (26), a lower bearing seat (27), a main shaft and a chassis flange (29), wherein the upper bearing seat (25) is fixedly connected to the top of the box body (21), the upper bearing (24) is installed in the upper bearing seat (25), the lower bearing seat (27) is fixedly connected to the bottom of the box body (21), the lower bearing (26) is installed in the lower bearing seat (27), the worm gear (22) is located in the box body (21), the main shaft is vertically arranged, and the upper bearing (24), the worm gear (22) and the lower bearing (26) are sequentially sleeved and fixed on the main shaft from top to bottom; the rotating motor (23) is fixed on one side of the box body (21), the worm (28) is horizontally arranged in the box body (21) and is in rotating connection with the box body (21), the worm (28) is meshed with the worm gear (22), and a motor shaft of the rotating motor (23) extends into the box body (21) and is connected with the worm (28) through a coupler; the chassis flange (29) is fixedly connected to the bottom end of the main shaft, and the top of the connecting piece (34) is fixedly connected to the bottom of the chassis flange (29).
6. The suspended manned robot apparatus of claim 5 wherein: the translation mechanism (1) comprises a mounting seat (11), a translation servo motor (12), a translation gear (13), a translation rack (16), a guide rail (14) and a sliding block (15); crossbeam (6) level sets up, length direction along crossbeam (6) of guide rail (14) sets up and fixed connection on crossbeam (6), slider (15) sliding connection be in on guide rail (14), mount pad (11) are located the below and the fixed connection of crossbeam (6) on slider (15), translation rack (16) set up and fixed connection on slider (15) along the length direction of crossbeam (6), translation servo motor (12) are through motor cabinet fixed connection on crossbeam (6), the cover is established on the motor shaft of translation servo motor (12) and is fixed with translation gear (13), translation gear (13) mesh with translation rack (16) mutually, rotary mechanism (2) are installed on mount pad (11).
7. The suspended manned robot apparatus of claim 6 wherein: the top of mount pad (11) is equipped with mounting panel (111) that two levels set up, guide rail (14) have two respectively fixed connection in the both sides of crossbeam (6), sliding connection has two sliders (15) on every guide rail (14), and slider (15) two bisymmetry settings on two guide rails (14) are each to slider (15) fixed connection on corresponding mounting panel (111).
8. The suspended manned robot apparatus according to any one of claims 3 to 7, wherein: long support arm (32) and short support arm (41) all are equipped with a plurality of circular ports that the interval set up side by side along length direction.
9. The suspended manned robot apparatus of claim 1 wherein: and a tool mounting seat is arranged on the operating platform (5).
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| CN202110784073.4A CN113459067B (en) | 2021-07-12 | 2021-07-12 | Suspended manned manipulator device |
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| CN202110784073.4A CN113459067B (en) | 2021-07-12 | 2021-07-12 | Suspended manned manipulator device |
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| CN113459067B true CN113459067B (en) | 2022-09-20 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111348598A (en) * | 2020-04-20 | 2020-06-30 | 青岛卓立嘉自动化装备有限公司 | Automatic adjustable double-operation platform for overhead working truck |
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| CN212101736U (en) * | 2020-04-23 | 2020-12-08 | 湖北三峡职业技术学院 | Swing arm type large-amplitude crane |
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| CN105036020A (en) * | 2015-08-19 | 2015-11-11 | 浙江鼎力机械股份有限公司 | Crank-arm-type aerial work platform flexible in work range |
| CN105522066A (en) * | 2015-12-24 | 2016-04-27 | 惠州市仨联自动化设备有限公司 | Suspension type deflection mechanical hand and stamping production line thereof |
| CN205172468U (en) * | 2016-02-24 | 2016-04-20 | 王吉福 | Two layers of platform snatch tubular column manipulator |
| CN111348598A (en) * | 2020-04-20 | 2020-06-30 | 青岛卓立嘉自动化装备有限公司 | Automatic adjustable double-operation platform for overhead working truck |
| CN212939594U (en) * | 2020-06-05 | 2021-04-13 | 广东技术师范大学天河学院 | Suspension type wall cleaning mechanical arm |
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