CN204819557U - Four degrees of freedom are from steady box grab bucket based on parallel mechanism - Google Patents
Four degrees of freedom are from steady box grab bucket based on parallel mechanism Download PDFInfo
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- CN204819557U CN204819557U CN201520408029.3U CN201520408029U CN204819557U CN 204819557 U CN204819557 U CN 204819557U CN 201520408029 U CN201520408029 U CN 201520408029U CN 204819557 U CN204819557 U CN 204819557U
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Abstract
The utility model relates to a four degrees of freedom are from steady box grab bucket based on parallel mechanism, including four degree of freedom parallel mechanism, fixed plate, four electronic slide rails and four grippers, directly over four degree of freedom parallel mechanism lie in the fixed plate, and adopt the bolt to be connected between four degree of freedom parallel mechanism and the fixed plate, the fixed plate is square structure, and four electronic slide rails lie in four top angular bisector of fixed plate respectively, and electronic slide rail links firmly with the fixed plate, and four grippers are installed respectively under four electronic slide rails. The utility model discloses a control is removed the make a round trip reciprocating motion of slider on the direction slide rail and is realized the utility model discloses a spatial movement state adopts four degree of freedom parallel mechanism of 4 -CRC mode can realize three rotations of a translation totally four degrees of freedom motion in the space, has increased the utility model discloses snatch the stability of box, prevented the box lifted by crane the in -process in the transport jitter problem.
Description
Technical field
The utility model relates to capture apparatus field, and particularly a kind of four-degree-of-freedom based on parallel institution is grabbed bucket from steady casing.
Background technology
Grab bucket captures the bucket that silt stone and various bulk goods can open and close, namely be that a kind of folding mainly keeping left right two combination buckets or multiple jaw captures and draws off the suspender of bulk material, grab bucket can be divided into mytiliform to grab bucket and the grab bucket of tangerine lobe according to Shape Classification, the former is made up of two complete scraper bowls, and the latter is made up of the jaw of more than three or three; Fluid pressure type can be divided into grab bucket according to type of drive and mechanical type grab bucket two large classes.
Along with the development of modern logistics, the transport of goods is more and more flourishing, present goods many employings casing loads, then container loading is adopted for large cargo equipment, therefore, at port and pier, transport vehicle station and some from trade district and other places, casing carrying is all not within minority for every day, what then adopt small box carrying at present is a dead lift, large casing carrying adopts fork truck more, what transporting container adopted is grab bucket and crane, existing casing carrying lifting there is no specialty grab bucket, what generally adopt is jaw grab, this kind of grab bucket is very large to damaging outside casing, sometimes even box house article are destroyed, grab bucket simultaneously carries out casing carrying under lifting machine coordinates, therefore, very easily produce shake when grab bucket carrying casing and jolt, easily damage is caused to the article in casing.Given this, the utility model provide a kind of can the casing Special grabbing taking equipment of damping, namely a kind of four-degree-of-freedom based on parallel institution is grabbed bucket from steady casing.
Utility model content
In order to solve the problem, the utility model provides a kind of four-degree-of-freedom based on parallel institution to grab bucket from steady casing, it realizes spatial movement state of the present utility model by controlling moving slider moving back and forth on directive slide track, adopt the four-freedom parallel mechanism of 4-CRC pattern can realize a translation three in space and rotate four-degree-of-freedom motion altogether, add the stability that the utility model captures casing, prevent the jitter problem of casing in carrying lifting process.
To achieve these goals, the utility model realizes by the following technical solutions: a kind of four-degree-of-freedom based on parallel institution is grabbed bucket from steady casing, comprise four-freedom parallel mechanism, fixed head, four electric sliding rails and four grippers, described four-freedom parallel mechanism is positioned at directly over fixed head, and adopts bolt to be connected between four-freedom parallel mechanism with fixed head; Described fixed head is square structure, and four electric sliding rails lay respectively on four drift angle bisectors of fixed head, and electric sliding rail and fixed head are connected; Four described grippers are arranged on immediately below four electric sliding rails respectively.
As further improvement of the utility model, described four-freedom parallel mechanism comprises moving platform, fixed platform, support bar, universal joint, moving slider and directive slide track; The rounded structure of described moving platform, the rectangular structure of fixed platform, the quantity of support bar, moving slider and directive slide track is four, and the quantity of universal joint is eight; Described support bar is all between moving platform and fixed platform, and support bar arranges moving platform four side respectively, and support bar one end is connected with moving platform bottom face by universal joint, and the support bar other end is connected with moving slider by universal joint; Described directive slide track is fixed on the both sides, front and back of fixed platform respectively along the central axis of fixed platform, moving slider is arranged on directive slide track, realizing spatial movement state of the present utility model by controlling moving slider moving back and forth on directive slide track, adopting the four-freedom parallel mechanism of 4-CRC pattern can realize a translation three in space and rotating four-degree-of-freedom motion altogether.
As further improvement of the utility model, described gripper comprises moving slider, upper chuck, lower chuck, expansion link, upper ear seat, lower ear base and hydraulic cylinder; Described moving slider is fixed on chuck top end, moving slider offers installation earhole; Described upper chuck bottom is connected by expansion link with between lower chuck top; Described upper chuck is triangular shape pillar construction, and upper chuck two side evenly offers manhole, and drift angle place, upper chuck bottom is provided with upper bush, and upper bush internal diameter is slightly larger than expansion link external diameter; Described lower chuck is also in triangular shape pillar construction, lower chuck two side evenly offers lower manhole, drift angle place, lower chuck top is provided with lower sleeve, and lower sleeve internal diameter is slightly larger than expansion link external diameter, lower chuck bottom is provided with shovel ear, shovel ear is sector structure, and shovel ear front port place is provided with gradient; Described upper ear seat is fixed on the lateral wall of chuck bottom, lower ear base is fixed on the lateral wall on lower chuck top, upper ear seat and lower ear base are Ω type structure, hydraulic cylinder is between upper ear seat and lower ear base, and hydraulic cylinder bottom and upper ear seat fix, hydraulic cylinder top is connected with lower ear base.
As further improvement of the utility model, described support bar material is stainless steel material, adopts the support bar of stainless steel to avoid problem of rustiness.
As further improvement of the utility model, described directive slide track two ends are respectively arranged with postive stop baffle, occur departing from the phenomenon of directive slide track by arranging at directive slide track two ends when postive stop baffle prevents moving slider to move back and forth back and forth on directive slide track.
The beneficial effects of the utility model: a kind of four-degree-of-freedom based on parallel institution has the features such as compact conformation, simple operation and cost of manufacture are low from steady casing grab bucket, compared with prior art, it realizes spatial movement state of the present utility model by controlling moving slider moving back and forth on directive slide track, adopt the four-freedom parallel mechanism of 4-CRC pattern can realize a translation three in space and rotate four-degree-of-freedom motion altogether, add the stability that the utility model captures casing, prevent the jitter problem of casing in carrying lifting process.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is further illustrated.
Fig. 1 is perspective view of the present utility model;
Fig. 2 is the cooperation schematic diagram of the utility model fixed head, four electric sliding rails and four grippers;
Fig. 3 is the perspective view of the utility model gripper;
Fig. 4 is the perspective view of the utility model four-freedom parallel mechanism.
Specific embodiment
The technological means realized to make the utility model, creation characteristic, reaching object and effect is easy to understand, below in conjunction with concrete diagram, setting forth the utility model further.It should be noted that, when not conflicting, the embodiment in the application and the feature in embodiment can be combined with each other.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, a kind of four-degree-of-freedom based on parallel institution is grabbed bucket from steady casing, comprise four-freedom parallel mechanism 1, fixed head 2, four electric sliding rails 3 and four grippers 4, described four-freedom parallel mechanism 1 is positioned at directly over fixed head 2, and adopts bolt to be connected between four-freedom parallel mechanism 1 with fixed head 2; Described fixed head 2 is square structure, and four electric sliding rails 3 lay respectively on four drift angle bisectors of fixed head 2, and electric sliding rail 3 and fixed head 2 are connected; Four described grippers 4 are arranged on immediately below four electric sliding rails 3 respectively.
As shown in Figure 4, described four-freedom parallel mechanism 1 comprises moving platform 11, fixed platform 12, support bar 13, universal joint 14, moving slider 15 and directive slide track 16; The described rounded structure of moving platform 11, the rectangular structure of fixed platform 12, the quantity of support bar 13, moving slider 15 and directive slide track 16 is four, and the quantity of universal joint 14 is eight; Described support bar equal 13 is between moving platform 11 and fixed platform 12, and support bar 13 arranges moving platform 11 4 side respectively, support bar 13 one end is connected with moving platform 11 bottom face by universal joint 14, and support bar 13 other end is connected with moving slider 15 by universal joint 14; Described directive slide track equal 16 is fixed on the both sides, front and back of fixed platform 12 respectively along the central axis of fixed platform 12, moving slider 15 is arranged on directive slide track 16, realizing spatial movement state of the present utility model by controlling moving slider 15 moving back and forth on directive slide track 16, adopting the four-freedom parallel mechanism 1 of 4-CRC pattern can realize a translation three in space and rotating four-degree-of-freedom motion altogether.
As shown in Figures 2 and 3, described gripper 4 comprises moving slider 41, upper chuck 42, lower chuck 43, expansion link 44, upper ear seat 45, lower ear base 46 and hydraulic cylinder 47; Described moving slider 41 is fixed on chuck 42 top end, moving slider 41 offers installation earhole; Be connected by expansion link 44 between described upper chuck 42 bottom with lower chuck 43 top; Described upper chuck 42 is in triangular shape pillar construction, and upper chuck 42 two side evenly offers manhole, and drift angle place, upper chuck 42 bottom is provided with upper bush, and upper bush internal diameter is slightly larger than expansion link 44 external diameter; Described lower chuck 43 is also in triangular shape pillar construction, lower chuck 43 two side evenly offers lower manhole, drift angle place, lower chuck 43 top is provided with lower sleeve, and lower sleeve internal diameter is slightly larger than expansion link 44 external diameter, lower chuck 43 bottom is provided with shovel ear, shovel ear is sector structure, and shovel ear front port place is provided with gradient; Described upper ear seat 45 is fixed on the lateral wall of chuck 42 bottom, lower ear base 46 is fixed on the lateral wall on lower chuck 43 top, upper ear seat 45 and lower ear base 46 are Ω type structure, hydraulic cylinder 47 is between upper ear seat 45 and lower ear base 46, and hydraulic cylinder 47 bottom and upper ear seat 45 fix, hydraulic cylinder 47 top is connected with lower ear base 46.
As shown in Figure 4, described support bar 13 material is stainless steel material, adopts the support bar 13 of stainless steel to avoid problem of rustiness.
As shown in Figure 4, described directive slide track 16 two ends are respectively arranged with postive stop baffle, occur departing from the phenomenon of directive slide track 16 by arranging at directive slide track 16 two ends when postive stop baffle prevents moving slider 15 to move back and forth back and forth on directive slide track 6.
During use, first forward starts electric sliding rail 3, drives four grippers 4 outwards to stretch by electric sliding rail 3 simultaneously, then forward primer fluid cylinder pressure 47, the vertical downward movement of lower chuck 43 is driven by the stretching, extension of hydraulic cylinder 47, and realize the rotation break-in campaign of whole gripper 4 simultaneously, four grippers 4 are just in time reclined four turnings of casing, instantly time the shovel ear of chuck 43 bottom arrives bottom half, reverse starting electric sliding rail 3 again, drive four grippers 4 inwardly to shrink by electric sliding rail 3 simultaneously, electric sliding rail 3 is stopped when upper chuck 42 madial wall contacts with two lateral walls at box section corner place with lower chuck 43 madial wall, realize fixing casing four side, reverse starting hydraulic cylinder 47 again, the upward vertical movement of lower chuck is driven by the contraction of hydraulic cylinder 47, the stop solution cylinder pressure 47 when upper chuck 42 top inner side face contacts with the top and bottom of casing respectively with lower chuck 43 bottom medial surface, thus realization fixing the upper and lower side of casing, just can realize the lifting of casing by crane lifting fixed head 2 and carry, in lifting handling process, it realizes spatial movement state of the present utility model by controlling moving slider 15 moving back and forth on directive slide track 16, adopt the four-freedom parallel mechanism 1 of 4-CRC pattern can realize a translation three in space and rotate four-degree-of-freedom motion altogether, add the stability that the utility model captures casing, prevent the jitter problem of casing in carrying lifting process.
More than show and describe general principle of the present utility model, principal character and advantage.The technical staff of the industry should understand; the utility model is not restricted to the described embodiments; description in above-described embodiment and description principle of the present utility model is just described; under the prerequisite not departing from the utility model spirit and scope; the utility model also has various changes and modifications, and these changes and improvements all fall within the scope of claimed the utility model.The claimed scope of the utility model is defined by appending claims and equivalent thereof.
Claims (3)
1. grab bucket from steady casing based on the four-degree-of-freedom of parallel institution for one kind, comprise four-freedom parallel mechanism, fixed head, four electric sliding rails and four grippers, it is characterized in that: described four-freedom parallel mechanism is positioned at directly over fixed head, and between four-freedom parallel mechanism with fixed head, adopt bolt to be connected; Described fixed head is square structure, and four electric sliding rails lay respectively on four drift angle bisectors of fixed head, and electric sliding rail and fixed head are connected; Four described grippers are arranged on immediately below four electric sliding rails respectively; Wherein:
Described four-freedom parallel mechanism comprises moving platform, fixed platform, support bar, universal joint, moving slider and directive slide track; The rounded structure of described moving platform, the rectangular structure of fixed platform, the quantity of support bar, moving slider and directive slide track is four, and the quantity of universal joint is eight; Described support bar is all between moving platform and fixed platform, and four support bars arrange moving platform four side respectively, and support bar one end is connected with moving platform bottom face by universal joint, and the support bar other end is connected with moving slider by universal joint; Described directive slide track is fixed on the both sides, front and back of fixed platform respectively along the central axis of fixed platform, moving slider is arranged on directive slide track;
Described gripper comprises moving slider, upper chuck, lower chuck, expansion link, upper ear seat, lower ear base and hydraulic cylinder; Described moving slider is fixed on chuck top end, moving slider offers installation earhole; Described upper chuck bottom is connected by expansion link with between lower chuck top; Described upper chuck is triangular shape pillar construction, and upper chuck two side evenly offers manhole, and drift angle place, upper chuck bottom is provided with upper bush, and upper bush internal diameter is slightly larger than expansion link external diameter; Described lower chuck is also in triangular shape pillar construction, lower chuck two side evenly offers lower manhole, drift angle place, lower chuck top is provided with lower sleeve, and lower sleeve internal diameter is slightly larger than expansion link external diameter, lower chuck bottom is provided with shovel ear, shovel ear is sector structure, and shovel ear front port place is provided with gradient; Described upper ear seat is fixed on the lateral wall of chuck bottom, lower ear base is fixed on the lateral wall on lower chuck top, upper ear seat and lower ear base are Ω type structure, hydraulic cylinder is between upper ear seat and lower ear base, and hydraulic cylinder bottom and upper ear seat fix, hydraulic cylinder top is connected with lower ear base.
2. a kind of four-degree-of-freedom based on parallel institution according to claim 1 is grabbed bucket from steady casing, it is characterized in that: described support bar material is stainless steel material.
3. a kind of four-degree-of-freedom based on parallel institution according to claim 1 is grabbed bucket from steady casing, it is characterized in that: described directive slide track two ends are respectively arranged with postive stop baffle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520408029.3U CN204819557U (en) | 2015-06-11 | 2015-06-11 | Four degrees of freedom are from steady box grab bucket based on parallel mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520408029.3U CN204819557U (en) | 2015-06-11 | 2015-06-11 | Four degrees of freedom are from steady box grab bucket based on parallel mechanism |
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| CN204819557U true CN204819557U (en) | 2015-12-02 |
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| CN201520408029.3U Active CN204819557U (en) | 2015-06-11 | 2015-06-11 | Four degrees of freedom are from steady box grab bucket based on parallel mechanism |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104858886A (en) * | 2015-06-11 | 2015-08-26 | 安庆市华鑫重工股份有限公司 | Four-degree-of-freedom self-stabilized box grab bucket based on parallel mechanism |
| CN105922230A (en) * | 2016-05-25 | 2016-09-07 | 刘明月 | Automatic vehicle part stacking robot |
| CN105945913A (en) * | 2016-05-24 | 2016-09-21 | 陈薇 | Grabber for hydraulic engineering construction field operation automatic equipment |
-
2015
- 2015-06-11 CN CN201520408029.3U patent/CN204819557U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104858886A (en) * | 2015-06-11 | 2015-08-26 | 安庆市华鑫重工股份有限公司 | Four-degree-of-freedom self-stabilized box grab bucket based on parallel mechanism |
| CN106586826A (en) * | 2015-06-11 | 2017-04-26 | 陈国栋 | Four-freedom-degree self-stabilization box grab bucket based on parallel mechanism |
| CN106586826B (en) * | 2015-06-11 | 2017-12-22 | 陈国栋 | It is a kind of to be grabbed bucket based on the four-degree-of-freedom of parallel institution from steady casing |
| CN105945913A (en) * | 2016-05-24 | 2016-09-21 | 陈薇 | Grabber for hydraulic engineering construction field operation automatic equipment |
| CN105922230A (en) * | 2016-05-25 | 2016-09-07 | 刘明月 | Automatic vehicle part stacking robot |
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