CN117103236A - Cylindrical coordinate robot and aircraft hangar - Google Patents
Cylindrical coordinate robot and aircraft hangar Download PDFInfo
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- CN117103236A CN117103236A CN202311353176.0A CN202311353176A CN117103236A CN 117103236 A CN117103236 A CN 117103236A CN 202311353176 A CN202311353176 A CN 202311353176A CN 117103236 A CN117103236 A CN 117103236A
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- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 230000003028 elevating effect Effects 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims description 29
- 238000001514 detection method Methods 0.000 claims description 16
- 230000008859 change Effects 0.000 abstract description 5
- 238000013461 design Methods 0.000 abstract description 3
- 230000002349 favourable effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000003578 releasing effect Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect 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
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/30—Supply or distribution of electrical power
- B64U50/39—Battery swapping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/20—Transport or storage specially adapted for UAVs with arrangements for servicing the UAV
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/44—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages for storing aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
The invention provides a cylindrical coordinate robot and an aircraft hangar, which relate to the technical field of aircraft hangars, and the cylindrical coordinate robot provided by the invention comprises: the lifting mechanism is rotationally connected between the base and the load mounting table around an axis extending along the plumb direction, and the manipulator is connected with the lifting mechanism. Can centre gripping unmanned aerial vehicle load through the manipulator, elevating system can order about manipulator and unmanned aerial vehicle load and go up and down in step, and elevating system can rotate around the axis that extends along the plumb direction to change unmanned aerial vehicle load's position, can realize unmanned aerial vehicle load's dismouting, change in limited space, the structure is compacter, is favorable to the miniaturized design of hangar.
Description
Technical Field
The invention relates to the technical field of aircraft hangars, in particular to a cylindrical coordinate robot and an aircraft hangar.
Background
After the unmanned aerial vehicle operation is finished, charging or load replacement is usually required, so that corresponding manipulators are required to be arranged in a hangar to carry out docking interaction with the unmanned aerial vehicle. However, with the enrichment of job scenes and miniaturization of the hangar, it is increasingly difficult to achieve precise interactive operation with the unmanned aerial vehicle in a limited space of the hangar. In addition, when the unmanned aerial vehicle battery is dismantled and assembled and loaded, generally make one arm lock fixed, another arm lock is close or keep away from in order to realize centre gripping and release, and the in-process load produces the skew easily, and the centre gripping steadiness is relatively poor.
Disclosure of Invention
The invention aims to provide a cylindrical coordinate robot and an aircraft hangar, which can realize the replacement operation of unmanned aerial vehicle load in a limited space.
In a first aspect, the present invention provides a cylindrical coordinate robot, comprising: the device comprises a base, a lifting mechanism, a load mounting table and a manipulator;
the lifting mechanism is rotationally connected between the base and the load mounting table around an axis extending along the plumb direction;
the manipulator is connected with the lifting mechanism.
With reference to the first aspect, the present invention provides a first possible implementation manner of the first aspect, wherein the cylindrical coordinate robot further includes a rotation driving member, the rotation driving member is mounted on the base or the load mounting table, and the rotation driving member is in transmission connection with the lifting mechanism, and the rotation driving member is used for driving the lifting mechanism to rotate around an axis extending along a plumb direction.
With reference to the first aspect, the present invention provides a second possible implementation manner of the first aspect, wherein the lifting mechanism is connected with a first trigger piece, and a first detection device for detecting the position of the first trigger piece is installed on the base.
With reference to the third possible implementation manner of the first aspect, the present invention provides a third possible implementation manner of the first aspect, wherein the lifting mechanism is further connected with a second trigger piece;
the lifting mechanism is positioned between the first trigger piece and the second trigger piece relative to the rotation axis of the base, and the second trigger piece extends in a direction away from the first trigger piece;
the base is provided with a second detection device for detecting the position of the second trigger piece, and the second detection device and the first detection device are arranged around the lifting mechanism at intervals.
With reference to the first aspect, the present invention provides a fourth possible implementation manner of the first aspect, wherein the load mounting table is mounted with a plurality of load jigs, and a plurality of the load jigs are disposed at intervals around the lifting mechanism.
With reference to the first aspect, the present invention provides a fifth possible implementation manner of the first aspect, wherein the manipulator includes: the device comprises an arm support, a swing arm, a driving device, a first clamping piece and a second clamping piece;
the middle part of the swing arm is pivoted with the arm support;
the driving device is in transmission connection with the swing arm and is used for driving the swing arm to swing;
one end of the swing arm is in transmission connection with the first clamping piece, and the other end of the swing arm is in transmission connection with the second clamping piece;
the first clamping piece and the second clamping piece are respectively connected with the arm support in a sliding mode, and a clamping area is formed between the first clamping piece and the second clamping piece.
With reference to the fifth possible implementation manner of the first aspect, the present invention provides a sixth possible implementation manner of the first aspect, wherein the first clamping member includes: the device comprises a transmission arm, a guide rod and a first clamping jaw;
the transmission arm is in transmission connection with one end of the swing arm, and the transmission arm and the first clamping jaw are respectively connected with the guide rod;
the second clamping piece is in sliding fit with the guide rod.
With reference to the sixth possible implementation manner of the first aspect, the present invention provides a seventh possible implementation manner of the first aspect, wherein the second clamping member includes a second clamping jaw;
the first clamping jaw and/or the second clamping jaw are/is provided with a positioning part which is matched with the clamped device.
With reference to the fifth possible implementation manner of the first aspect, the present invention provides an eighth possible implementation manner of the first aspect, wherein a first position sensor is installed on the arm support, and the first position sensor is used for detecting positions of the first clamping piece and the second clamping piece.
In a second aspect, the present invention provides an aircraft hangar comprising the cylindrical coordinate robot described in the first aspect.
The embodiment of the invention has the following beneficial effects: adopt elevating system to rotate around the axis that extends along the plumb direction and connect between base and load mount pad, but manipulator and elevating system are connected, but through manipulator centre gripping unmanned aerial vehicle load, elevating system can order about manipulator and unmanned aerial vehicle to carry synchronous lift, moreover, elevating system can rotate around the axis that extends along the plumb direction to change unmanned aerial vehicle load's position, can realize unmanned aerial vehicle load's dismouting, change in limited space, the structure is compacter, is favorable to the miniaturized design of hangar.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the related art, the drawings that are required to be used in the description of the embodiments or the related art will be briefly described, and it is apparent that the drawings in the description below are some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort for those skilled in the art.
Fig. 1 is a schematic diagram of a manipulator of a cylindrical coordinate robot according to an embodiment of the present invention;
fig. 2 is a schematic diagram two of a manipulator of a cylindrical coordinate robot according to an embodiment of the present invention;
fig. 3 is a top view of a manipulator of a cylindrical coordinate robot according to an embodiment of the present invention;
fig. 4 is a front view of a cylindrical coordinate robot according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a cylindrical coordinate robot according to an embodiment of the present invention;
fig. 6 is a schematic diagram two of a cylindrical coordinate robot according to an embodiment of the present invention;
fig. 7 is an enlarged schematic view of the position a in fig. 6.
Icon: 001-arm support; 002-swing arm; 003-drive means; 004-first clamping member; 401-an actuator arm; 402-a guide rod; 403-first jaw; 404-station trigger; 005-a second clamp; 501-a second jaw; 006-clamping zone; 007-a positioning portion; 701-locating pins; 702-a positioning slot; 008-a first position sensor; 009-base; 010-lifting mechanism; 011—a load mount; 012-rotary drive; 013-first trigger; 014—a first detection means; 015-a second trigger; 016-a second detection means; 017-load jig.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Physical quantities in the formulas, unless otherwise noted, are understood to be basic quantities of basic units of the international system of units, or derived quantities derived from the basic quantities by mathematical operations such as multiplication, division, differentiation, or integration.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 4, 5, 6 and 7, the cylindrical coordinate robot provided in the embodiment of the present invention includes: the base 009, the lifting mechanism 010, the load mount 011 and the manipulator; the elevating mechanism 010 is rotatably connected between the base 009 and the load mount table 011 about an axis extending in the plumb direction; the manipulator is connected with the lifting mechanism 010.
Specifically, the base 009 and the load installation table 011 are respectively connected inside the machine base, and the lifting mechanism 010 rotates around an axis extending along the plumb direction, so that the manipulator can be abutted to different stations on the load installation table 011, and then loads at different positions on the load installation table 011 can be selected. The manipulator can be driven to lift through the lifting mechanism 010, so that the manipulator is close to or far away from the load mounting table 011, and further access to devices on the load mounting table 011 is realized.
As shown in fig. 4, in the embodiment of the present invention, the cylindrical coordinate robot further includes a rotation driving member 012, the rotation driving member 012 is mounted on the base 009 or the load mount 011, and the rotation driving member 012 is in transmission connection with the lifting mechanism 010, and the rotation driving member 012 is used for driving the lifting mechanism 010 to rotate about an axis extending in the plumb direction. The rotary driving member 012 employs a turntable, and the turntable can be connected between the load mount 011 and the elevating mechanism 010; alternatively, the rotation driving member 012 employs a motor, and the elevating mechanism 010 is connected to a pulley or a gear, and the motor is drivingly connected to the pulley or the gear, thereby driving the elevating mechanism 010 to rotate about an axis extending in the plumb direction. The lifting mechanism 010 can drive the manipulator to rotate around an axis extending along the plumb direction, thereby adjusting the station where the manipulator is located.
As shown in fig. 5, 6 and 7, the elevating mechanism 010 is connected to a first trigger 013, and a first detecting device 014 for detecting the position of the first trigger 013 is mounted on the base 009.
Specifically, the first detecting device 014 is configured as a photoelectric sensor, an ultrasonic sensor or an electromagnetic sensor, the first trigger 013 is connected to the base of the elevating mechanism 010, the position of the first trigger 013 relative to the first detecting device 014 changes when the elevating mechanism 010 rotates, and the first trigger 013 can be set to be an initial station when the first detecting device 014 is blocked by the first trigger 013.
Further, the lifting mechanism 010 is also connected with a second trigger member 015; the elevating mechanism 010 is located between the first trigger 013 and the second trigger 015 with respect to the rotation axis of the base 009, and the second trigger 015 extends in a direction away from the first trigger 013; the base 009 is provided with a second detection device 016 for detecting the position of the second trigger 015, and the second detection device 016 and the first detection device 014 are arranged around the elevating mechanism 010 at intervals.
Specifically, two second detecting devices 016 are provided, and the first detecting device 014 is located between the two second detecting devices 016, so that the first detecting device 014 and the second detecting device 016 can be respectively installed at different positions and heights in order to avoid the second detecting device 016 from obstructing the first triggering device 013. The second detection means 016 is configured as a photoelectric sensor, an ultrasonic sensor or an electromagnetic sensor, and when the second trigger 015 rotates with the elevating mechanism 010, the second trigger 015 is rotated to the limit position on behalf of the elevating mechanism 010 if the second trigger 015 shields the second detection means 016. When the first trigger member 013 shields the first detection device 014, the lifting mechanism 010 rotates forward or backward to enable the second trigger member 015 to shield the second detection device 016, and the rotating travel range of the lifting mechanism 010 is calibrated.
As shown in fig. 4, 5, and 6, the load mount 011 is provided with a plurality of load jigs 017, and the plurality of load jigs 017 are disposed at intervals around the elevating mechanism 010. The load jig 017 can be adapted to a battery of an unmanned aerial vehicle or other loads of the unmanned aerial vehicle, the loads such as a battery and the like can be stored in the load jig 017, the loads on the unmanned aerial vehicle can be clamped and conveyed into the load jig 017 through the manipulator, and the battery or other loads in the load jig 017 can be taken out through the manipulator and mounted to a load hanging point of the unmanned aerial vehicle.
As shown in fig. 1, 2 and 3, the robot includes: arm support 001, swing arm 002, driving device 003, first clamping piece 004 and second clamping piece 005; the middle part of the swing arm 002 is pivoted with the arm support 001; the driving device 003 is in transmission connection with the swing arm 002 and is used for driving the swing arm 002 to swing; one end of the swing arm 002 is in transmission connection with the first clamping piece 004, and the other end of the swing arm 002 is in transmission connection with the second clamping piece 005; the first clamping piece 004 and the second clamping piece 005 are respectively connected to the arm support 001 in a sliding mode, and a clamping area 006 is formed between the first clamping piece 004 and the second clamping piece 005.
Specifically, the driving device 003 includes a motor, and a transmission shaft of the motor is connected to the middle part of the swing arm 002, so as to drive the swing arm 002 to swing; or, the driving device 003 comprises a telescopic driving cylinder, the middle part of the swing arm 002 is rotationally connected to the arm support 001, the movable end of the telescopic driving cylinder is hinged with the swing arm 002, and the swing arm 002 can be driven to swing through the telescopic driving cylinder. When the swing arm 002 swings, the first clamping member 004 and the second clamping member 005 approach or separate, so that the opening degree of the clamping area 006 can be adjusted, so as to realize clamping and releasing of the load.
It should be noted that, the two ends of the swing arm 002 are opposite in linear speed direction when swinging, one end of the swing arm 002 is in transmission connection with the first clamping piece 004, the other end of the swing arm 002 is in transmission connection with the second clamping piece 005, the motion synchronicity of the first clamping piece 004 and the second clamping piece 005 is better, the clamping and releasing actions are more stable, and load deflection caused in the clamping process can be avoided. In addition, the first clamping piece 004 and the second clamping piece 005 do not need to be driven by independent power sources, so that the structure is more compact, and the machine base miniaturization design is facilitated.
In an embodiment of the present invention, the first clip 004 includes: a drive arm 401, a guide bar 402 and a first jaw 403; the transmission arm 401 is in transmission connection with one end of the swing arm 002, and the transmission arm 401 and the first clamping jaw 403 are respectively connected with the guide rod 402; the second clamp 005 is a sliding fit on the guide bar 402.
Specifically, the transmission arm 401 is connected with one end of the swing arm 002 through a hinge in a transmission manner, and the swing arm 002 that swings can push and pull the transmission arm 401, and push and pull driving on the first clamping jaw 403 is realized through transmission of the guide rod 402. In addition, the second clamping member 005 is slidably engaged with the guide bar 402, thereby improving structural compactness on the one hand and stability of the second clamping member 005 with respect to the first clamping member 004 on the other hand.
Further, the second clamping member 005 includes a second clamping jaw 501; the first clamping jaw 403 or the second clamping jaw 501 are provided with a positioning portion 007 which is matched with the clamped device, or the first clamping jaw 403 and the second clamping jaw 501 are both provided with a positioning portion 007 which is matched with the clamped device, and the clamped device is clamped stably through the matching of the positioning portions 007.
Specifically, the positioning portion 007 includes a positioning pin 701, and the positioning pin 701 can be inserted into a pin hole on the clamped device, thereby positioning the clamped device. In addition, the positioning portion 007 may further include a positioning groove 702, and the clamped device may be engaged with the positioning groove 702 during clamping and releasing processes, and a pulley may be installed in the positioning groove 702, so that frictional resistance of the clamped device sliding along the positioning groove is reduced.
As shown in fig. 2, a first position sensor 008 is mounted on the arm support 001, and the first position sensor 008 is used to detect positions of the first clip 004 and the second clip 005.
In an alternative embodiment, the first position sensor 008 may employ a photoelectric sensor or an ultrasonic sensor, and the position of at least one of the first clamping member 004 and the second clamping member 005 may be detected by the first position sensor 008, and the clamping and releasing state may be further determined in the case where the first clamping member 004 and the second clamping member 005 move in synchronization.
In this embodiment, the first clamping member 004 is provided with a station triggering member 404, the first position sensor 008 is an opposite-type photoelectric sensor mounted on the arm support 001, and when the first clamping member 004 moves to the clamping station, the station triggering member 404 shields the optical path of the opposite-type photoelectric sensor, so that a photoelectric signal change is generated, and whether the clamping station is reached can be known. The first position sensor 008 and the driving device 003 are respectively connected with a controller, and the controller controls the start and stop and the action direction of the driving device 003 according to the signal of the first position sensor 008.
The aircraft hangar provided by the embodiment of the invention comprises the cylindrical coordinate robot described in the embodiment, and has the technical effects of the cylindrical coordinate robot, so that the load can be disassembled and accessed in a limited space.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (10)
1. A cylindrical coordinate robot, comprising: a base (009), a lifting mechanism (010), a load mounting table (011) and a manipulator;
the lifting mechanism (010) is rotatably connected between the base (009) and the load mount table (011) around an axis extending in the plumb direction;
the manipulator is connected with the lifting mechanism (010).
2. The cylindrical coordinate robot according to claim 1, further comprising a rotation driving member (012), the rotation driving member (012) being mounted to the base (009) or the load mount (011), and the rotation driving member (012) being in transmission connection with the elevating mechanism (010), the rotation driving member (012) being for driving the elevating mechanism (010) to rotate about an axis extending in a plumb direction.
3. The cylindrical coordinate robot according to claim 1, wherein the elevating mechanism (010) is connected with a first trigger (013), and a first detecting device (014) for detecting the position of the first trigger (013) is mounted on the base (009).
4. A cylindrical coordinate robot according to claim 3, characterized in that the lifting mechanism (010) is further connected with a second trigger member (015);
the lifting mechanism (010) is located between the first trigger (013) and the second trigger (015) relative to the rotation axis of the base (009), and the second trigger (015) extends in a direction away from the first trigger (013);
the base (009) is provided with a second detection device (016) for detecting the position of the second trigger piece (015), and the second detection device (016) and the first detection device (014) are arranged around the lifting mechanism (010) at intervals.
5. The cylindrical coordinate robot of claim 1, wherein the load mount (011) is mounted with a plurality of load jigs (017), the plurality of load jigs (017) being disposed at intervals around the elevating mechanism (010).
6. The cylindrical coordinate robot of claim 1, wherein the manipulator comprises: the arm support (001), the swing arm (002), the driving device (003), the first clamping piece (004) and the second clamping piece (005);
the middle part of the swing arm (002) is pivoted with the arm support (001);
the driving device (003) is in transmission connection with the swing arm (002) and is used for driving the swing arm (002) to swing;
one end of the swing arm (002) is in transmission connection with the first clamping piece (004), and the other end of the swing arm (002) is in transmission connection with the second clamping piece (005);
the first clamping piece (004) and the second clamping piece (005) are respectively connected with the arm support (001) in a sliding mode, and a clamping area (006) is formed between the first clamping piece (004) and the second clamping piece (005).
7. The cylindrical coordinate robot of claim 6, wherein the first gripper (004) comprises: a drive arm (401), a guide rod (402) and a first clamping jaw (403);
the transmission arm (401) is in transmission connection with one end of the swing arm (002), and the transmission arm (401) and the first clamping jaw (403) are respectively connected with the guide rod (402);
the second clamping piece (005) is in sliding fit with the guide rod (402).
8. The cylindrical coordinate robot of claim 7, wherein the second clamp (005) comprises a second jaw (501);
the first clamping jaw (403) and/or the second clamping jaw (501) are/is provided with a positioning part (007) which is adapted to the clamped device.
9. The cylindrical coordinate robot of claim 6, wherein a first position sensor (008) is mounted on the arm support (001), the first position sensor (008) being configured to detect positions of the first clamping member (004) and the second clamping member (005).
10. An aircraft hangar comprising a cylindrical coordinate robot as claimed in any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311353176.0A CN117103236B (en) | 2023-10-19 | 2023-10-19 | Cylindrical coordinate robot and aircraft hangar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311353176.0A CN117103236B (en) | 2023-10-19 | 2023-10-19 | Cylindrical coordinate robot and aircraft hangar |
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| Publication Number | Publication Date |
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| CN117103236A true CN117103236A (en) | 2023-11-24 |
| CN117103236B CN117103236B (en) | 2024-01-23 |
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| CN202311353176.0A Active CN117103236B (en) | 2023-10-19 | 2023-10-19 | Cylindrical coordinate robot and aircraft hangar |
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| CN117103236B (en) | 2024-01-23 |
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