CN113788315B - Omnidirectional movement formula manipulator of helping hand based on narrow and small space is used - Google Patents
Omnidirectional movement formula manipulator of helping hand based on narrow and small space is used Download PDFInfo
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- CN113788315B CN113788315B CN202111021149.4A CN202111021149A CN113788315B CN 113788315 B CN113788315 B CN 113788315B CN 202111021149 A CN202111021149 A CN 202111021149A CN 113788315 B CN113788315 B CN 113788315B
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- base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Abstract
The invention relates to the technical field of power-assisted manipulators, in particular to an omnidirectional movable power-assisted manipulator used in a narrow space, which comprises a base, wherein the base is connected with a power-assisted structure for carrying a heavy object, the power-assisted structure is connected with a limiting structure for limiting, the base is provided with a supporting structure, the supporting structure is connected with a collision structure for making the supporting structure more stable, the base is connected with a pushing structure, the base is provided with a scraping structure for cleaning the supporting structure, the heavy object is conveniently lifted and extracted by the power-assisted structure, the base is conveniently placed in a narrower space by the supporting structure, the omnidirectional movement of the device is convenient, the power-assisted structure is conveniently limited by the limiting structure, the working state of the supporting structure can be controlled by the pushing structure, and the supporting structure can be cleaned to a certain extent by the scraping structure, the device can be more stable when placed through the abutting structure.
Description
Technical Field
The invention relates to the technical field of power-assisted manipulators, in particular to an omnidirectional moving type power-assisted manipulator used in a narrow space.
Background
The manipulator is the some action function that can imitate people's hand and arm for snatch according to fixed procedure, carry article or operating means's automatic operation device, the manipulator is of a great variety, and the helping hand manipulator is the manipulator, has better controllability, for the ease of taking to the heavy object in narrow and small space, just needs an omnidirectional movement formula helping hand manipulator based on narrow and small space is used.
Present helping hand manipulator's base is fixed many, and fixed base helping hand manipulator can be less to the adaptation of occasion, is not convenient for remove, and some portable helping hand manipulators are in order to increase its stability, and the base is generally great, adopts flat design, is not convenient for adjust width and length, is not convenient for use in constrictive space, if: when heavy goods are unloaded in the boxcar, the goods are inconvenient to place.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an omnidirectional mobile power-assisted manipulator used in a narrow space.
The technical scheme adopted by the invention for solving the technical problems is as follows: an omnidirectional moving type assistance manipulator used in a narrow space comprises a base, wherein the base is connected with an assistance structure used for carrying heavy objects, the assistance structure is connected with a limiting structure used for limiting, the base is provided with a supporting structure used for supporting device work, the supporting structure is connected with a conflict structure used for enabling the supporting structure to be more stable, the base is connected with a pushing structure used for pushing the supporting structure to work, and the base is provided with a scraping structure used for cleaning the supporting structure;
the utility model discloses a bearing structure, including the bearing structure, the base bottom is rotated and is connected with two pairs of semi-gear, two pairs intermeshing between the semi-gear, the one end fixedly connected with fixed block of semi-gear, the one end that the base is close to in the fixed block all is equipped with the sliding tray, the one end fixedly connected with sliding shaft of fixed block, the sliding shaft passes through sliding tray and base sliding connection, the inside sliding connection of fixed block has the bracing piece, all be equipped with on the bracing piece and support the groove, the promotion structure is through supporting groove and bracing piece connection, the sliding tray is the arc, the length of fixed block is less than the length of bracing piece.
Specifically, the helping hand structure includes the manipulator, the manipulator is installed on the top of base, the both ends of base are all rotated and are connected with the guard plate, contradict through first torsional spring between guard plate and the base.
Specifically, limit structure includes the spacing groove, the both ends of base all are equipped with the spacing groove, guard plate sliding connection has the stopper, fixedly connected with spring between stopper and the guard plate, the stopper is contradicted through spacing groove and guard plate, the one end of stopper is the inclined plane form, the stopper is "L" shape.
Specifically, the pushing structure includes electric putter, electric putter is installed to the bottom of manipulator, electric putter's output fixedly connected with catch bar, the bottom fixedly connected with fixed disk of catch bar, five back shafts of the bottom fixedly connected with of fixed disk, five the common fixedly connected with bottom plate in bottom of back shaft, the equal sliding connection in both ends of bottom plate has a pair of supporting shoe, the supporting shoe is through supporting groove and bracing piece sliding connection, the bottom fixedly connected with of bottom plate is two pairs of universal wheels, two pairs of the universal wheel specification is the same, two pairs of the universal wheel is the bottom of rectangle whole form range in the bottom plate, five back shaft length is the same, five the back shaft is "ten" font range.
Specifically, the conflict structure includes the conflict foot, two pairs the bottom of bracing piece all rotates and is connected with the conflict foot, it has the second torsional spring to conflict between conflict foot and the bracing piece.
Specifically, the structure of scraping includes the sponge board, the base is close to the one end of bracing piece and all rotates and be connected with the sponge board, it has the third torsional spring to contradict between sponge board and the base, the one end of sponge board and one side of bracing piece are contradicted.
The beneficial effects of the invention are:
(1) the omnidirectional moving type power-assisted manipulator used in a narrow space comprises a base, wherein the base is connected with a power-assisted structure used for carrying a heavy object, the power-assisted structure is connected with a limiting structure for limiting, the heavy object is conveniently lifted and extracted through the power-assisted structure, and the power-assisted structure is conveniently limited through the limiting structure, namely: place the device in the inside of freight train, when the heavier heavy object in the freight train is lifted off to needs, the pulling stopper, the spring will compress, the stopper will break away from with the spacing groove to alright open the guard plate, under the promotion of first torsional spring, will promote the guard plate and rotate, thereby alright expose the bracing piece, be convenient for carry out operation on next step, be convenient for carry out the lifting extraction to the heavy object of freight train inside through the manipulator, thereby make the convenience more of unloading.
(2) The invention relates to an omnidirectional moving type power-assisted mechanical arm used in a narrow space, wherein a supporting structure used for supporting the work of a device is installed on a base, the supporting structure is connected with a conflict structure used for making the supporting structure more stable, the base is connected with a pushing structure used for pushing the supporting structure to work, the base can be conveniently placed in the narrow space through the supporting structure and can conveniently move in all directions, the working state of the supporting structure can be controlled through the pushing structure, and the device can be more stable when placed through the conflict structure, namely: two pairs of supporting rods are pulled out from the inside of the fixed block, the supporting block moves to one end of the supporting groove close to the fixed block, one of the supporting rods is rotated in the horizontal direction, the supporting rod drives the fixed block to rotate, the fixed block drives the sliding shaft to rotate along the sliding groove, so that the rotation angle is limited, the fixed block drives a half gear fixedly connected with the fixed block to rotate, so that a plurality of half gears are driven to rotate, so that a plurality of fixed blocks are driven to rotate, so that a plurality of abutting feet are driven to rotate, the abutting feet are unfolded at a certain angle in a narrow space, the stability of a manipulator in work is improved, an electric push rod is started, the electric push rod pushes the push rod to move downwards, so that the fixed disc is driven to move downwards, the distance between the bottom plate and the base is increased under the action of the supporting shaft, so that the base is lifted, under the action of the supporting block, drive the bracing piece and rotate to the ground direction, the bracing piece is contradicted with ground, the bracing piece will promote the universal wheel and break away from with ground, thereby the area is landed in the increase, thereby be convenient for increase the stability of manipulator at the during operation, the fixed completion back alright control the manipulator and carry the article in to the freight train of device, after article transport is accomplished, make electric putter withdraw the catch bar, will make base and bottom plate conflict, thereby it rotates to drive the bracing piece, make to conflict foot and ground and break away from, the second torsional spring will promote the conflict foot and reset, the bracing piece will be parallel with the fixed block, thereby alright push the inside of fixed block with the bracing piece.
(3) According to the omnidirectional movable power-assisted manipulator used in the narrow space, the base is provided with the scraping structure for cleaning the supporting structure; can carry out clearance to a certain extent to bearing structure through scraping the structure, promptly: when the bracing piece pushed, one side of bracing piece will contradict with the sponge board, under the effect of third torsional spring, make sponge board conflict inseparabler more to alright clear up the dust that drops on to the bracing piece, avoid bringing the dust into the inside of fixed block, the bottom of universal wheel will be in the inside ground contact of freight train this moment, rotate the guard plate, make the guard plate closed, loosen the stopper, under the effect of spring, will promote the stopper and enter into spacing groove and contradict with the base, thereby alright promotion base motion.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic overall structural diagram of a preferred embodiment of an omnidirectional mobile power manipulator for a narrow space according to the present invention;
FIG. 2 is an enlarged view of the part A shown in FIG. 1;
FIG. 3 is a schematic view of a connection structure between a support structure and a pushing structure according to the present invention;
FIG. 4 is an enlarged view of the structure of the portion B shown in FIG. 3;
FIG. 5 is an enlarged view of the structure of the portion C shown in FIG. 3;
FIG. 6 is a schematic view of a connection structure between the supporting structure and the pushing structure according to the present invention;
FIG. 7 is a schematic view of a connection structure of a sliding groove and a sliding shaft according to the present invention;
fig. 8 is a schematic view of a connection structure of the boosting structure and the limiting structure of the present invention.
In the figure: 1. a base; 2. a power-assisted structure; 201. a manipulator; 202. a protection plate; 203. a first torsion spring; 3. a support structure; 301. a support bar; 302. a support groove; 303. a support block; 304. a fixed block; 305. a sliding shaft; 306. a sliding groove; 307. a half gear; 4. a contact structure; 401. a contact pin; 402. a second torsion spring; 5. a limiting structure; 501. a limiting groove; 502. a limiting block; 503. a spring; 6. a pushing structure; 601. an electric push rod; 602. a push rod; 603. fixing the disc; 604. a support shaft; 605. a base plate; 606. a universal wheel; 7. a scraping structure; 701. a sponge plate; 702. a third torsion spring.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1-8, the omnidirectional moving type power-assisted manipulator for narrow and small space comprises a base 1, wherein the base 1 is connected with a power-assisted structure 2 for carrying heavy objects, the power-assisted structure 2 is connected with a limiting structure 5 for limiting, the base 1 is provided with a supporting structure 3 for supporting the work of a device, the supporting structure 3 is connected with a collision structure 4 for more stably supporting the supporting structure 3, the base 1 is connected with a pushing structure 6 for pushing the supporting structure 3 to work, and the base 1 is provided with a scraping structure 7 for cleaning the supporting structure 3;
Specifically, the power assisting structure 2 comprises a manipulator 201, the manipulator 201 is mounted at the top end of the base 1, two ends of the base 1 are rotatably connected with protection plates 202, and the protection plates 202 and the base 1 are abutted through a first torsion spring 203; under the promotion of first torsional spring 203, will promote guard plate 202 and rotate to alright expose bracing piece 301, be convenient for carry out operation on next step, be convenient for carry out the lifting to the inside heavy object of freight train through manipulator 201 and extract, thereby make the more convenience of unloading.
Specifically, the limiting structure 5 comprises a limiting groove 501, the limiting groove 501 is arranged at each of the two ends of the base 1, the protection plate 202 is connected with a limiting block 502 in a sliding manner, a spring 503 is fixedly connected between the limiting block 502 and the protection plate 202, the limiting block 502 is abutted against the protection plate 202 through the limiting groove 501, one end of the limiting block 502 is in an inclined plane shape, and the limiting block 502 is in an L shape; the device is placed in the wagon, when heavy weight in the wagon needs to be unloaded, the limiting block 502 is pulled, the spring 503 is compressed, the limiting block 502 is separated from the limiting groove 501, and therefore the protection plate 202 can be opened.
Specifically, the pushing structure 6 includes an electric push rod 601, the electric push rod 601 is installed at the bottom end of the manipulator 201, the output end of the electric push rod 601 is fixedly connected with a push rod 602, the bottom end of the push rod 602 is fixedly connected with a fixed disk 603, the bottom end of the fixed disk 603 is fixedly connected with five support shafts 604, the bottom ends of the five support shafts 604 are fixedly connected with a bottom plate 605 together, two ends of the bottom plate 605 are connected with a pair of support blocks 303 in a sliding manner, the support blocks 303 are connected with support rods 301 in a sliding manner through support grooves 302, the bottom end of the bottom plate 605 is fixedly connected with two pairs of universal wheels 606, the specifications of the two pairs of universal wheels 606 are the same, the two pairs of universal wheels 606 are arranged at the bottom end of the bottom plate 605 in a rectangular array manner, the lengths of the five support shafts 604 are the same, and the five support shafts 604 are arranged in a cross shape; start electric putter 601, electric putter 601 will promote catch bar 602 downstream to drive fixed disk 603 downstream, will make the distance increase between bottom plate 605 and the base 1 under the effect of back shaft 604, thereby make base 1 rise, under the effect of supporting shoe 303, drive bracing piece 301 and rotate to ground direction, bracing piece 301 conflicts with ground, bracing piece 301 will promote universal wheel 606 and break away from with ground, thereby the area is landed in the increase, thereby be convenient for increase manipulator 201 stability at the during operation.
Specifically, the collision structure 4 comprises a collision pin 401, the bottom ends of the two pairs of support rods 301 are rotatably connected with the collision pin 401, and a second torsion spring 402 is collided between the collision pin 401 and the support rods 301; bracing piece 301 bottom is rotated and is connected with the foot 401 of keeping in touch, and the foot 401 of keeping in touch will contradict with ground, and second torsional spring 402 will compress to make the better conflict with ground of foot 401 of keeping in touch, increase stability.
Specifically, the scraping structure 7 comprises a sponge plate 701, one end of the base 1 close to the supporting rod 301 is rotatably connected with the sponge plate 701, a third torsion spring 702 is abutted between the sponge plate 701 and the base 1, and one end of the sponge plate 701 is abutted with one side of the supporting rod 301; when the bracing piece 301 pushes, one side of the bracing piece 301 will be contradicted with the sponge board 701, under the effect of the third torsion spring 702, the sponge board 701 is contradicted more closely, so that the dust dropped on the bracing piece 301 can be cleaned, and the dust is prevented from being brought into the inside of the fixing block 304.
When the device is used, firstly, the device is placed in a truck, when a heavy weight in the truck needs to be unloaded, the limiting block 502 is pulled, the spring 503 is compressed, the limiting block 502 is separated from the limiting groove 501, so that the protection plate 202 can be opened, the protection plate 202 is pushed to rotate under the pushing of the first torsion spring 203, so that the supporting rod 301 can be exposed for the next operation, the heavy weight in the truck is conveniently lifted and extracted through the manipulator 201, so that the unloading is more convenient, two pairs of supporting rods 301 are pulled outwards from the inside of the fixing block 304, the supporting block 303 moves to one end, close to the fixing block 304, of the supporting grooves 302, one supporting rod 301 is rotated in the horizontal direction, the supporting rod 301 drives the fixing block 304 to rotate, the fixing block 304 drives the sliding shaft 305 to rotate along the sliding groove 306, so that the rotation angle is convenient to limit, the fixing block 304 will drive a half gear 307 fixedly connected with the fixing block to rotate, thereby driving the plurality of half gears 307 to rotate, thereby driving the plurality of fixing blocks 304 to rotate, the fixing block 304 drives the supporting rod 301, thereby the supporting rod 301 drives the supporting block 303 to slide with the bottom plate 605, thereby facilitating the driving of the plurality of contact pins 401 to rotate, facilitating the spreading of the contact pins 401 at a certain angle in a narrow space, having strong adaptability to the narrow space, and being capable of changing the size of the supporting surface, thereby increasing the stability of the manipulator 201 in operation, starting the electric push rod 601, the electric push rod 601 will push the push rod 602 to move downwards, thereby driving the fixing disc 603 to move downwards, increasing the distance between the bottom plate 605 and the base 1 under the action of the supporting shaft 604, thereby the base 1 is lifted, under the action of the supporting block 303, the supporting rod 301 is driven to rotate towards the ground direction, and the supporting rod 301 is abutted against the ground, the supporting rod 301 will push the universal wheel 606 to separate from the ground, thereby increasing the landing area, thereby facilitating to increase the stability of the manipulator 201 during operation, the bottom end of the supporting rod 301 is rotatably connected with the contact pin 401, the contact pin 401 will contact with the ground, the second torsion spring 402 will compress, thereby the contact pin 401 better contacts with the ground, increasing the stability, after the device is fixed, the manipulator 201 can be controlled to carry the goods in the truck, after the goods are carried, the electric push rod 601 will withdraw the push rod 602, will make the base 1 contact with the bottom plate 605, thereby driving the supporting rod 301 to rotate, making the contact pin 401 separate from the ground, the second torsion spring 402 will push the contact pin 401 to reset, the supporting rod 301 will be parallel with the fixing block 304, thereby the supporting rod 301 can be pushed into the fixing block 304, while the supporting rod 301 is pushed, one side of the supporting rod 301 will contact with the sponge plate 701, under the effect of third torsional spring 702, make sponge board 701 conflict inseparabler more to alright clear up the dust that drops on bracing piece 301, avoid bringing the dust into the inside of fixed block 304, the bottom of universal wheel 606 will be in the inside ground contact of freight train this moment, rotate guard plate 202, make guard plate 202 closed, loosen stopper 502, under the effect of spring 503, will promote stopper 502 and enter into spacing groove 501 and contradict with base 1, thereby alright promotion base 1 motion.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (3)
1. The omnidirectional moving type power-assisted mechanical arm based on the narrow space is characterized by comprising a base (1), wherein the base (1) is connected with a power-assisted structure (2) for carrying a heavy object, the power-assisted structure (2) is connected with a limiting structure (5) for limiting, a supporting structure (3) for supporting the work of a device is installed on the base (1), the supporting structure (3) is connected with a more stable collision structure (4) for the supporting structure (3), the base (1) is connected with a pushing structure (6) for pushing the supporting structure (3) to work, and the base (1) is provided with a scraping structure (7) for cleaning the supporting structure (3);
the supporting structure (3) comprises half gears (307), the bottom end of the base (1) is rotatably connected with two pairs of half gears (307), the two pairs of half gears (307) are meshed with each other, one end of each half gear (307) is fixedly connected with a fixed block (304), one end, close to the fixed block (304), of the base (1) is provided with a sliding groove (306), one end of each fixed block (304) is fixedly connected with a sliding shaft (305), the sliding shafts (305) are slidably connected with the base (1) through the sliding grooves (306), a supporting rod (301) is slidably connected inside the fixed block (304), the supporting rods (301) are provided with supporting grooves (302), and the pushing structure (6) is connected with the supporting rods (301) through the supporting grooves (302); the sliding groove (306) is arc-shaped, and the length of the fixing block (304) is smaller than that of the supporting rod (301);
the power assisting structure (2) comprises a mechanical arm (201), the mechanical arm (201) is installed at the top end of the base (1), two ends of the base (1) are rotatably connected with protection plates (202), and the protection plates (202) are abutted to the base (1) through first torsion springs (203);
the limiting structure (5) comprises a limiting groove (501), the limiting grooves (501) are formed in the two ends of the base (1), the protection plate (202) is connected with a limiting block (502) in a sliding mode, a spring (503) is fixedly connected between the limiting block (502) and the protection plate (202), and the limiting block (502) is abutted against the protection plate (202) through the limiting groove (501); one end of the limiting block (502) is in an inclined plane shape, and the limiting block (502) is in an L shape;
the pushing structure (6) comprises an electric push rod (601), the electric push rod (601) is installed at the bottom end of the manipulator (201), the output end of the electric push rod (601) is fixedly connected with a push rod (602), the bottom end of the push rod (602) is fixedly connected with a fixed disc (603), the bottom end of the fixed disc (603) is fixedly connected with five support shafts (604), the bottom ends of the five support shafts (604) are fixedly connected with a bottom plate (605) together, two ends of the bottom plate (605) are both connected with a pair of support blocks (303) in a sliding mode, the support blocks (303) are connected with the support rods (301) in a sliding mode through support grooves (302), and the bottom end of the bottom plate (605) is fixedly connected with two pairs of universal wheels (606); the two pairs of universal wheels (606) have the same specification, and the two pairs of universal wheels (606) are arranged at the bottom end of the bottom plate (605) in a rectangular array; the five support shafts (604) are the same in length, and the five support shafts (604) are arranged in a cross shape.
2. The omni-directional mobile power-assisted manipulator based on the narrow space as claimed in claim 1, is characterized in that: conflict structure (4) are including conflict foot (401), two pairs the bottom of bracing piece (301) is all rotated and is connected with conflict foot (401), it has second torsional spring (402) to conflict between conflict foot (401) and bracing piece (301).
3. The omni-directional mobile power-assisted manipulator based on the narrow space as claimed in claim 1, is characterized in that: scrape and rub structure (7) including sponge board (701), base (1) is close to the one end of bracing piece (301) and all rotates and is connected with sponge board (701), it has third torsional spring (702) to contradict between sponge board (701) and base (1), the one end of sponge board (701) is contradicted with one side of bracing piece (301).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111021149.4A CN113788315B (en) | 2021-09-01 | 2021-09-01 | Omnidirectional movement formula manipulator of helping hand based on narrow and small space is used |
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| CN202111021149.4A CN113788315B (en) | 2021-09-01 | 2021-09-01 | Omnidirectional movement formula manipulator of helping hand based on narrow and small space is used |
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| CN114408562A (en) * | 2022-03-29 | 2022-04-29 | 邳州市欢乐木业有限公司 | Timber material loading propelling movement manipulator convenient to change |
| CN115434495A (en) * | 2022-09-02 | 2022-12-06 | 中铁二十二局集团有限公司 | A equipment is demolishd to protection canopy for electric power communication moves changes |
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| EP1190680A1 (en) * | 2000-09-22 | 2002-03-27 | Mitaka Kohki Co., Ltd. | Medical stand apparatus |
| CN201696807U (en) * | 2010-04-02 | 2011-01-05 | 浙江师范大学 | Traveling device for pipeline robot utilizing self-locking to realize traveling |
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| CN113788315A (en) | 2021-12-14 |
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