CN202292752U - Multifunctional high-lift operation mechanical arm - Google Patents
Multifunctional high-lift operation mechanical arm Download PDFInfo
- Publication number
- CN202292752U CN202292752U CN 201120245889 CN201120245889U CN202292752U CN 202292752 U CN202292752 U CN 202292752U CN 201120245889 CN201120245889 CN 201120245889 CN 201120245889 U CN201120245889 U CN 201120245889U CN 202292752 U CN202292752 U CN 202292752U
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Abstract
The utility model discloses a multifunctional high-lift operation mechanical arm. A three-degrees-of-freedom macro operation device is arranged on a frame of a carrying power vehicle. The multifunctional high-lift operation mechanical arm is characterized in that: a multi-degrees-of-freedom micro operation device is arranged at the top end of the macro operation device; the top end of the multi-degrees-of-freedom micro operation device is provided with a tool connecting frame for selectively carrying various tool units; and the macro operation device comprises with a rotating platform with a revolving support, a telescopic arm, a variable-amplitude oil cylinder and a basic mechanical arm of a telescopic oil cylinder. The structure of the basic mechanical arm adopted in the macro operation device is that: the rotating platform with the revolving support is arranged; the telescopic arm is hinged with the rotating platform with the revolving support through a hinged shaft; a variable-amplitude oil cylinder base is hinged with the rotating platform with the revolving support through a hinged shaft; the end part of the variable-amplitude oil cylinder is hinged with a basic arm of the telescopic arm through a hinged shaft; the bottom of the telescopic oil cylinder is fixed on the basic arm; and the end part of the telescopic oil cylinder is hinged with a secondary arm of the telescopic arm through a hinged shaft. The multifunctional high-lift operation mechanical arm has the advantages of high automatic degree, high safety, convenience, rapidness, high working efficiency and wide application range.
Description
Technical field
The utility model relates to a kind of engineering machinery, is specifically related to a kind of multi-functional work high above the ground mechanical arm that carries out operation in the high-altitude; It is a kind of device that carries out work high above the ground in fields such as electric power, gardens, municipal administrations.The installation of the most suitable high-altitude electric power facility and urban operating mechanism, maintenance, detection etc., the pruning of the tall and big trees in gardens, sprinkling, cleaning, detection etc.
Technical background
At present, mostly work high above the ground be personnel and instrument, and the workbench that moves through liftable is delivered to work high above the ground place and constructed.Receive the restriction of workbench self load and people power, the aloft work personnel can't carry the bigger tool equipment of weight and construct, and can only pass through the manpower operation under many circumstances, and construction operation efficient is low, labour intensity is big.And owing to receive the influence of workbench appearance and size, make this work high above the ground mode can't get into small space and carry out operation, limited the suitable application area of aerial work platform.In addition, manned work high above the ground is very high to security requirement, though there is multiple protective can not solve personnel fully in the air in the present system in the height dangerous big problem of constructing, the security incident of the car crash that can't avoid fully occurring.
Summary of the invention
The purpose of the utility model is in order to overcome the deficiency of prior art, a kind of multi-functional work high above the ground mechanical arm to be provided, the unmanned aerial lift device of automation that can replace the construction of staff high-altitude that this mechanical arm is convenient and swift, safe and reliable, powerful.
The utility model is realized with following technical scheme: a kind of multi-functional work high above the ground mechanical arm; On the vehicle frame of delivery power car; The grand action industry of Three Degree Of Freedom device (being equivalent to standard machinery arm of the prior art) is installed; It is characterized in that the top at the grand action industry of described Three Degree Of Freedom device also is equipped with multiple degrees of freedom fine motion apparatus for work; On the top of this multiple degrees of freedom fine motion apparatus for work, be provided with the instrument link of selecting to carry the various tool unit.
The grand action of Three Degree Of Freedom described in above scheme industry device (being called for short grand moving device) has revolution, luffing and the free degree such as flexible.
Specifically, described grand action industry device is one and includes the basic mechanical arm of taking back the turntable, telescopic arm, amplitude oil cylinder and the telescopic oil cylinder that change support.For example, can be the basic mechanical arm that adopts following structure: being provided with to take back changes the turntable that supports; Telescopic arm is hinged with hinge and this turntable of taking back the commentaries on classics support; The amplitude oil cylinder base is hinged with hinge and this turntable of taking back the commentaries on classics support; Said amplitude oil cylinder end is hinged with the basic arm of hinge and telescopic arm, and the telescopic oil cylinder bottom is fixed on this basic arm, and the telescopic oil cylinder end is hinged with the secondary arm of hinge and telescopic arm.
That described grand action industry device also can adopt is of the prior art, with other the different basic mechanical arm structures of structure that should give an example.
Fine motion apparatus for work described in the above scheme (abbreviation inching gear) is made up of multivariant multi-joint series connection mechanical arm, can carry out that level is stretched, horizontally rotated, vertical oscillation and axially rotation, independently four axes motion.
Specifically; Described multiple degrees of freedom fine motion apparatus for work is one and is arranged on working end mechanical arm above-mentioned basic mechanical arm top, that comprise carriage, vertical oscillation oil cylinder, horizontal slip frame, telescopic oil cylinder, horizontal rotation motor, axial rotation motor and instrument link.For example, can adopt following structure: carriage carries out hinged with hinge and telescopic arm secondary arm end, and vertical oscillation oil cylinder bottom is carried out hinged with hinge and telescopic arm secondary arm end; Vertical oscillation oil cylinder end is carried out hinged with hinge and carriage; Horizontal slip is placed in the slideway of carriage, and the telescopic oil cylinder bottom is carried out hinged with hinge and carriage, and the telescopic oil cylinder end is carried out hinged with hinge and horizontal slip frame; The horizontal rotation motor is connected with the horizontal slip frame; Axially rotation motor is connected with the horizontal rotation motor, and the instrument link is connected axial rotation motor, and power tool can be connected the fixing hole place of instrument link.
Described multiple degrees of freedom fine motion apparatus for work, also can adopt of the prior art, with other different basic mechanical arm structures of structure that should be for example.
The described various tool unit that carries selected is meant: can select to carry hydraulic pressure chain saw, hydraulic oil brill, hydraulic tongs, hydraulic pressure cut, etc. the hydraulic tool unit.
On the fine motion apparatus for work, through select carrying a kind of hydraulic tool unit, behind the hydraulic power interface, carry out work in the connection, can select to carry hydraulic pressure chain saw, hydraulic oil brill, hydraulic tongs, hydraulic pressure cut, etc. the hydraulic tool unit.On grand moving device, lay pipeline and then can expand the work that devices such as carrying bubble, spray gun sprays, cleans; On the fine motion apparatus for work, carry photogra equipment and then can face the observation detection that high aerial object carry out multi-angle on ground; Said fine motion apparatus for work is made up of multivariant multi-joint series connection mechanical arm; Can carry out that level is stretched, horizontally rotated, vertical oscillation and axially rotation, independently four axes motion.Whole operations all are on the operating desk on the delivery power car or wireless distant operation is carried out; So the personnel that need not are in the aerial operation of height; Owing to adopt grand moving device earlier instrument to be sent into the workspace, accurately to locate by inching gear again, this device has safe, reliable, quick and easy characteristics.
The course of work is: multi-functional work high above the ground robotic arm arrives the ground location of the work of need.The grand moving device of this equipment is through the revolution of turntable, and flexible, the luffing of jib make inching gear near in the working region, promptly carry out Primary Location.It is flexible that the manipulation inching gear carries out level; Horizontal hunting, vertical oscillation and axially rotation; Can carry out the variation of up, down, left, right, before and after position, can accomplish three-dimensional rotation and expanding-contracting action, instrument is accurately located at the cartesian space coordinate system; Arrive the operating position of appointment, instrument carries out work.
The beneficial effect of the utility model is: automaticity is high, and security is good, and is convenient and swift, high efficiency, wide accommodation.
Description of drawings
Figure l is the utility model general structure sketch map;
Fig. 2 is grand moving apparatus structure sketch map;
Fig. 3 is the inching gear structural representation;
Fig. 4 is the inching gear right view.
Among the figure: 1, delivery power car, 2, grand action device already, 3, the fine motion apparatus for work, 4, vehicle frame; 2-1, take back the turntable that change to support, 2-2, telescopic arm, 2-3, amplitude oil cylinder, 2-4, telescopic oil cylinder; 3-1, carriage, 3-2, vertical oscillation oil cylinder, 3-3, horizontal expansion bracket; 3-4, telescopic oil cylinder, 3-5, horizontal rotation motor, 3-6, axial rotation motor, 3-7, instrument link.
The specific embodiment
Embodiment 1; As shown in Figure 1; Multi-functional work high above the ground robotic arm has delivery power car 1; On delivery power car vehicle frame 2, be equiped with can be on vehicle frame 4 can revolution, luffing and the flexible grand action industry device 3 of Three Degree Of Freedom and can the lift-launch instrument carry out that level is flexible, horizontal hunting, vertical oscillation and axially rotate multivariant fine motion apparatus for work 4.Delivery power car 1 can adopt two types of automobile chassises or self-propelled frame, and Fig. 1 only provides the connection of two types of automobile chassises, and the connection of self-propelled frame is also identical.
As shown in Figure 2, grand action industry device comprises taking back changes the turntable 2-1 that supports, telescopic arm 2-2, amplitude oil cylinder 2-3, telescopic oil cylinder 2-4.Taking back the turntable 2-1 that changes support is connected with vehicle frame 2; Telescopic arm 2-2 is hinged with the turntable 2-1 that takes back the commentaries on classics support with hinge; Amplitude oil cylinder 2-3 base is hinged with the turntable 2-1 that takes back the commentaries on classics support with hinge; Amplitude oil cylinder 2-3 end is hinged with hinge and telescopic arm 2-2 basic arm, and telescopic oil cylinder 2-4 is fixed on the basic arm bottom, and telescopic oil cylinder 2-4 end is hinged with hinge and telescopic arm 2-1 secondary arm.
Like Fig. 3, shown in Figure 4, the fine motion apparatus for work comprises carriage 3-1, vertical oscillation oil cylinder 3-2, horizontal slip frame 3-3, telescopic oil cylinder 3-4, horizontal rotation motor 3-5, axial rotation motor 3-6, instrument link 3-7.Carriage 3-1 carries out hinged with hinge and telescopic arm 2-2 secondary arm end; Vertical oscillation oil cylinder 3-2 carries out hinged with hinge and telescopic arm 2-2 secondary arm end in the bottom; Vertical oscillation oil cylinder 3-2 carries out hinged with hinge and carriage 3-1 in the end; Horizontal slip frame 3-3 places in the slideway of carriage 3-1, and telescopic oil cylinder 3-4 carries out the bottom hinged with hinge and carriage 3-1, and telescopic oil cylinder 3-4 end is carried out hinged with hinge and horizontal slip frame 3-3; Horizontal rotation motor 3-5 is connected with horizontal slip frame 3-3; Axially rotation motor 3-6 is connected with horizontal rotation motor 3-5, and instrument link 3-7 is connected axial rotation motor 3-6, and power tool (not giving figure) can be connected the fixing hole place of instrument link 3-7.
Operation principle of the present invention is following:
Multi-functional work high above the ground robotic arm arrives the ground location of the work of need; Taking back on the grand moving device changes the revolution that the turntable 2-1 that supports can make 360 degree; Drive is equipped with the inching gear of instrument from the approaching high aerial operative goals of any angle, and the flexible of amplitude oil cylinder 2-3 can drive telescopic arm 2-2, with the height and the work range of adjustment inching gear; Telescopic oil cylinder 2-4 flexible can drive telescopic arm 2-2 and elongate or shorten, and can adjust the height and the amplitude of inching gear.
After grand moving device is sent inching gear into the working region; Start the fine motion equipment; Accurately locate; Vertical oscillation oil cylinder 3-2 flexible can bracket 3-1 for the angle of horizontal plane, drive instrument link 3-7 the angle of horizontal plane also adjusted, the flexible displacement through horizontal slip frame 3-3 of telescopic oil cylinder 3-4 can adjustment means link 3-7 with respect to the front and back position of carriage 3-1; Horizontal rotation motor 3-5 can do the revolution of 360 degree; Drive be equipped with the instrument link from any angle near operative goals, axially rotation motor 3-6 does the revolution of 360 degree, makes instrument link 3-7 go up the instrument that carries and carries out work from different axial orientations near operative goals.Its multiple degrees of freedom action can be carried out the variation of up, down, left, right, before and after position, can accomplish three-dimensional rotation and expanding-contracting action at the cartesian space coordinate system.
The hydraulic system that is installed on the delivery power car is oil cylinder, rotary motor and the hydraulic tool delivery hydraulic pressure power of above-mentioned exercises, is installed in the keying that the operating desk that delivers on the power car is controlled grand moving device, inching gear and instrument.
Claims (8)
1. a multi-functional work high above the ground mechanical arm on the vehicle frame of delivery power car, is equipped with the grand action industry of Three Degree Of Freedom device, it is characterized in that the top at the grand action industry of described Three Degree Of Freedom device also is equipped with multiple degrees of freedom fine motion apparatus for work; On the top of this multiple degrees of freedom fine motion apparatus for work, be provided with the instrument link of selecting to carry the various tool unit.
2. multi-functional work high above the ground mechanical arm according to claim 1 is characterized in that, described grand action industry device is one and includes the basic mechanical arm of taking back the turntable, telescopic arm, amplitude oil cylinder and the telescopic oil cylinder that change support.
3. multi-functional work high above the ground mechanical arm according to claim 2 is characterized in that, described grand action industry device is the basic mechanical arm that adopts following structure: being provided with to take back changes the turntable that supports; Telescopic arm is hinged with hinge and this turntable of taking back the commentaries on classics support; The amplitude oil cylinder base is hinged with hinge and this turntable of taking back the commentaries on classics support; Said amplitude oil cylinder end is hinged with the basic arm of hinge and telescopic arm, and the telescopic oil cylinder bottom is fixed on this basic arm, and the telescopic oil cylinder end is hinged with the secondary arm of hinge and telescopic arm.
4. multi-functional work high above the ground mechanical arm according to claim 1; It is characterized in that; Described multiple degrees of freedom fine motion apparatus for work is one and is arranged on working end mechanical arm above-mentioned basic mechanical arm top, that comprise carriage, vertical oscillation oil cylinder, horizontal slip frame, telescopic oil cylinder, horizontal rotation motor, axial rotation motor and instrument link.
5. multi-functional work high above the ground mechanical arm according to claim 4; It is characterized in that described multiple degrees of freedom fine motion apparatus for work adopts following structure: carriage carries out hinged with hinge and telescopic arm secondary arm end, and vertical oscillation oil cylinder bottom is carried out hinged with hinge and telescopic arm secondary arm end; Vertical oscillation oil cylinder end is carried out hinged with hinge and carriage; Horizontal slip is placed in the slideway of carriage, and the telescopic oil cylinder bottom is carried out hinged with hinge and carriage, and the telescopic oil cylinder end is carried out hinged with hinge and horizontal slip frame; The horizontal rotation motor is connected with the horizontal slip frame; Axially rotation motor is connected with the horizontal rotation motor, and the instrument link is connected axial rotation motor, and power tool can be connected the fixing hole place of instrument link.
6. according to the described multi-functional work high above the ground mechanical arm of one of claim 1 ~ 5, it is characterized in that the described various tool unit of selecting to carry is meant: select to carry hydraulic pressure chain saw, hydraulic oil brill, hydraulic tongs or hydraulic pressure and the hydraulic tool unit such as cut.
7. according to the described multi-functional work high above the ground mechanical arm of one of claim 1 ~ 5, it is characterized in that the described various tool unit of selecting to carry is meant: select to carry photogra equipment.
8. according to the described multi-functional work high above the ground mechanical arm of one of claim 1 ~ 5, it is characterized in that the described pipeline of on grand moving device, laying can be expanded the various tool unit of lift-launch and is meant: bubble, spray gun are carried in expansion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201120245889 CN202292752U (en) | 2011-07-13 | 2011-07-13 | Multifunctional high-lift operation mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201120245889 CN202292752U (en) | 2011-07-13 | 2011-07-13 | Multifunctional high-lift operation mechanical arm |
Publications (1)
| Publication Number | Publication Date |
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| CN202292752U true CN202292752U (en) | 2012-07-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201120245889 Expired - Fee Related CN202292752U (en) | 2011-07-13 | 2011-07-13 | Multifunctional high-lift operation mechanical arm |
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| CN (1) | CN202292752U (en) |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102748039A (en) * | 2012-07-05 | 2012-10-24 | 湖南江麓实业发展有限公司 | Multi-functional tunnel operation trolley |
| CN102785243A (en) * | 2012-07-05 | 2012-11-21 | 湖南江麓实业发展有限公司 | Multi-directional regulating mechanical hand |
| CN103015306A (en) * | 2012-12-20 | 2013-04-03 | 徐州海伦哲专用车辆股份有限公司 | Operation method for high-altitude emergency erection of highway passing linear facilities |
| CN103737572A (en) * | 2013-12-23 | 2014-04-23 | 中汽商用汽车有限公司(杭州) | Vehicle-mounted special work manipulator |
| CN103817686A (en) * | 2012-11-19 | 2014-05-28 | 青岛理工大学琴岛学院 | Manipulator for disaster rescue robot |
| CN104999464A (en) * | 2014-09-10 | 2015-10-28 | 国家电网公司 | Electrification water washing robot for convertor station and method |
| CN105965486A (en) * | 2016-07-22 | 2016-09-28 | 广东电网有限责任公司电力科学研究院 | Electric operation robot system |
| CN107992098A (en) * | 2017-11-27 | 2018-05-04 | 北京北矿亿博科技有限责任公司 | Method and device for controlling tail end powder conveying pipe of working arm to align blast hole |
| CN108466282A (en) * | 2018-06-21 | 2018-08-31 | 大连交通大学 | A kind of multipurpose virescence maintenance machinery device |
| CN108714885A (en) * | 2018-06-22 | 2018-10-30 | 徐州海伦哲专用车辆股份有限公司 | A kind of altitude hot-line operation robot and operational method |
| CN110450985A (en) * | 2019-09-16 | 2019-11-15 | 吉林大学 | A kind of unmanned lunar soil collecting vehicle of lunar surface |
| US10635758B2 (en) | 2016-07-15 | 2020-04-28 | Fastbrick Ip Pty Ltd | Brick/block laying machine incorporated in a vehicle |
| CN111332426A (en) * | 2020-02-28 | 2020-06-26 | 舟山中远海运重工有限公司 | Ultrahigh-pressure water rust removal intelligent overhead vehicle |
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| CN113928936A (en) * | 2021-09-30 | 2022-01-14 | 中船重工海为郑州高科技有限公司 | A unwrapping wire arm for high-speed railway cable lays |
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2011
- 2011-07-13 CN CN 201120245889 patent/CN202292752U/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102748039A (en) * | 2012-07-05 | 2012-10-24 | 湖南江麓实业发展有限公司 | Multi-functional tunnel operation trolley |
| CN102785243A (en) * | 2012-07-05 | 2012-11-21 | 湖南江麓实业发展有限公司 | Multi-directional regulating mechanical hand |
| CN102748039B (en) * | 2012-07-05 | 2014-06-18 | 湖南江麓实业发展有限公司 | Multi-functional tunnel operation trolley |
| CN102785243B (en) * | 2012-07-05 | 2014-08-13 | 湖南江麓实业发展有限公司 | Multi-directional regulating mechanical hand |
| CN103817686A (en) * | 2012-11-19 | 2014-05-28 | 青岛理工大学琴岛学院 | Manipulator for disaster rescue robot |
| CN103015306A (en) * | 2012-12-20 | 2013-04-03 | 徐州海伦哲专用车辆股份有限公司 | Operation method for high-altitude emergency erection of highway passing linear facilities |
| CN103015306B (en) * | 2012-12-20 | 2016-03-09 | 徐州海伦哲专用车辆股份有限公司 | The operational method of High Altitude Emergency erection highway crossing wire facility |
| CN103737572A (en) * | 2013-12-23 | 2014-04-23 | 中汽商用汽车有限公司(杭州) | Vehicle-mounted special work manipulator |
| CN103737572B (en) * | 2013-12-23 | 2015-10-28 | 中汽商用汽车有限公司(杭州) | Vehicular job that requires special skills manipulator |
| CN104999464A (en) * | 2014-09-10 | 2015-10-28 | 国家电网公司 | Electrification water washing robot for convertor station and method |
| US10635758B2 (en) | 2016-07-15 | 2020-04-28 | Fastbrick Ip Pty Ltd | Brick/block laying machine incorporated in a vehicle |
| US12001761B2 (en) | 2016-07-15 | 2024-06-04 | Fastbrick Ip Pty Ltd | Computer aided design for brick and block constructions and control software to control a machine to construct a building |
| US11842124B2 (en) | 2016-07-15 | 2023-12-12 | Fastbrick Ip Pty Ltd | Dynamic compensation of a robot arm mounted on a flexible arm |
| US11687686B2 (en) | 2016-07-15 | 2023-06-27 | Fastbrick Ip Pty Ltd | Brick/block laying machine incorporated in a vehicle |
| US11299894B2 (en) | 2016-07-15 | 2022-04-12 | Fastbrick Ip Pty Ltd | Boom for material transport |
| US10865578B2 (en) | 2016-07-15 | 2020-12-15 | Fastbrick Ip Pty Ltd | Boom for material transport |
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| US11106836B2 (en) | 2016-07-15 | 2021-08-31 | Fastbrick Ip Pty Ltd | Brick/block laying machine incorporated in a vehicle |
| CN105965486A (en) * | 2016-07-22 | 2016-09-28 | 广东电网有限责任公司电力科学研究院 | Electric operation robot system |
| US11441899B2 (en) | 2017-07-05 | 2022-09-13 | Fastbrick Ip Pty Ltd | Real time position and orientation tracker |
| US11958193B2 (en) | 2017-08-17 | 2024-04-16 | Fastbrick Ip Pty Ltd | Communication system for an interaction system |
| US11401115B2 (en) | 2017-10-11 | 2022-08-02 | Fastbrick Ip Pty Ltd | Machine for conveying objects and multi-bay carousel for use therewith |
| CN107992098B (en) * | 2017-11-27 | 2020-09-08 | 北京北矿亿博科技有限责任公司 | Method and device for controlling tail end powder conveying pipe of working arm to align blast hole |
| CN107992098A (en) * | 2017-11-27 | 2018-05-04 | 北京北矿亿博科技有限责任公司 | Method and device for controlling tail end powder conveying pipe of working arm to align blast hole |
| CN108466282B (en) * | 2018-06-21 | 2023-06-02 | 大连交通大学 | Multipurpose greening maintenance mechanical device |
| CN108466282A (en) * | 2018-06-21 | 2018-08-31 | 大连交通大学 | A kind of multipurpose virescence maintenance machinery device |
| CN108714885A (en) * | 2018-06-22 | 2018-10-30 | 徐州海伦哲专用车辆股份有限公司 | A kind of altitude hot-line operation robot and operational method |
| CN108714885B (en) * | 2018-06-22 | 2024-03-29 | 徐州海伦哲专用车辆股份有限公司 | High-altitude electrified operation robot and operation method |
| CN110450985A (en) * | 2019-09-16 | 2019-11-15 | 吉林大学 | A kind of unmanned lunar soil collecting vehicle of lunar surface |
| CN111332426A (en) * | 2020-02-28 | 2020-06-26 | 舟山中远海运重工有限公司 | Ultrahigh-pressure water rust removal intelligent overhead vehicle |
| CN113928936A (en) * | 2021-09-30 | 2022-01-14 | 中船重工海为郑州高科技有限公司 | A unwrapping wire arm for high-speed railway cable lays |
| CN113924879A (en) * | 2021-11-10 | 2022-01-14 | 国网湖北省电力有限公司宜昌供电公司 | Power line trees wrecker |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120704 Termination date: 20170713 |
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| CF01 | Termination of patent right due to non-payment of annual fee |