CN204819557U - Four degrees of freedom are from steady box grab bucket based on parallel mechanism - Google Patents

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

A four-degree-of-freedom self-stabilizing box grab based on a parallel mechanism

technical field

The utility model relates to the field of grabbing equipment, in particular to a four-degree-of-freedom self-stabilizing box grab based on a parallel mechanism.

Background technique

The grab bucket is a bucket that can be opened and closed by grabbing sand, gravel and various bulk goods. It is a spreader that mainly relies on the opening and closing of two combined buckets on the left and right or multiple jaw plates to grab and discharge bulk materials. According to the classification of the shape, the grab can be divided into a shell-shaped grab and a orange-shaped grab. The former is composed of two complete buckets, and the latter is composed of three or more jaw plates; according to the driving method, it can be divided into hydraulic There are two types of grabs and mechanical grabs.

With the development of modern logistics, the transportation of goods is more and more developed. Now the goods are mostly loaded in boxes, and for large cargo equipment, they are loaded in containers. Therefore, in ports, transportation stations, and some free trade zones, containers are used. There are a lot of body handling every day. At present, manual handling is used for small box handling, forklifts are mostly used for large box handling, and grabs and cranes are used for container handling. There is no professional grab for the existing box handling and lifting. , the claw type grab is commonly used, this kind of grab will cause great damage to the outside of the box, and sometimes even destroy the items inside the box. At the same time, the grab is carried out with the cooperation of the crane. Therefore, the grab It is very easy to shake and bump when moving the box, which is easy to cause damage to the items in the box. In view of this, the utility model provides a shock-absorbing box-specific gripping device, that is, a four-degree-of-freedom self-stabilizing box grab based on a parallel mechanism.

Utility model content

In order to solve the above problems, the utility model provides a four-degree-of-freedom self-stabilizing box grab based on a parallel mechanism, which realizes the spatial motion state of the utility model by controlling the reciprocating motion of the moving slider on the guide rail. The four-degree-of-freedom parallel mechanism adopting the 4-CRC mode can realize a total of four degrees of freedom in one translation and three rotations in space, which increases the stability of the utility model for grabbing the box and prevents the shaking of the box during handling and lifting. sexual issues.

In order to achieve the above purpose, the utility model adopts the following technical solutions: a four-degree-of-freedom self-stabilizing box grab based on a parallel mechanism, including a four-degree-of-freedom parallel mechanism, a fixed plate, four electric slide rails and four mechanical Claw, the four-degree-of-freedom parallel mechanism is located directly above the fixed plate, and bolts are used to connect the four-degree-of-freedom parallel mechanism and the fixed plate; the fixed plate has a square structure, and the four electric slide rails are respectively located on the fixed plate The four vertex angle bisectors, and the electric slide rail is fixedly connected with the fixed plate; the four mechanical claws are respectively installed directly under the four electric slide rails.

As a further improvement of the utility model, the four-degree-of-freedom parallel mechanism includes a moving platform, a fixed platform, a support rod, a universal joint, a moving slider and a guide rail; the moving platform has a circular structure, and the fixed platform It has a rectangular structure, the number of support rods, moving sliders and guide rails is four, and the number of universal joints is eight; the support rods are all located between the moving platform and the fixed platform, and the support rods are respectively arranged on the moving platform On the four sides, one end of the support rod is connected with the bottom end surface of the moving platform through a universal joint, and the other end of the support rod is connected with the moving slider through a universal joint; On the front and rear sides of the platform, the mobile slider is installed on the guide rail, and the space movement state of the utility model is realized by controlling the reciprocating movement of the mobile slider on the guide rail, and the four-degree-of-freedom parallel connection of the 4-CRC mode is adopted. The mechanism can realize four-degree-of-freedom movement in space, including one translation and three rotations.

As a further improvement of the utility model, the mechanical claw includes a moving slider, an upper jacket, a lower jacket, a telescopic rod, an upper lug, a lower lug and a hydraulic cylinder; the moving slider is fixed on the upper clamp At the top of the jacket, there is an installation ear hole on the moving slider; the bottom of the upper jacket and the top of the lower jacket are connected by a telescopic rod; the upper jacket is a triangular column structure, and the upper jacket has two The upper circular through hole is evenly opened on the side wall, and the upper sleeve is arranged at the top corner of the bottom end of the upper jacket, and the inner diameter of the upper sleeve is slightly larger than the outer diameter of the telescopic rod; the lower jacket also has a triangular column structure , the two sides of the lower jacket are uniformly opened with a lower circular through hole, the lower sleeve is arranged at the top corner of the lower jacket, and the inner diameter of the lower sleeve is slightly larger than the outer diameter of the telescopic rod, and the bottom of the lower jacket is provided with a shovel Ears, the shovel ears have a fan-shaped structure, and the front port of the shovel ears is provided with an inclination; the upper ear seat is fixed on the outer wall of the bottom end of the upper jacket, the lower ear seat is fixed on the outer wall of the top of the lower jacket, and the upper ear Both the seat and the lower ear seat are Ω-shaped structures, the hydraulic cylinder is located between the upper ear seat and the lower ear seat, and the bottom end of the hydraulic cylinder is fixed to the upper ear seat, and the top of the hydraulic cylinder is connected to the lower ear seat.

As a further improvement of the utility model, the material of the support rod is stainless steel, and the use of the support rod made of stainless steel can avoid the problem of rusting.

As a further improvement of the present utility model, the two ends of the guide slide rail are respectively provided with limit baffles, and by setting the limit baffles at both ends of the guide slide rail, it is prevented that the mobile slider moves back and forth on the guide slide rail. The phenomenon of deviating from the guide rail.

Beneficial effects of the utility model: a four-degree-of-freedom self-stabilizing box grab based on a parallel mechanism has the characteristics of compact structure, convenient operation and low production cost. The space motion state of the utility model is realized by the reciprocating motion on the slide rail. The four-degree-of-freedom parallel mechanism of the 4-CRC mode can realize a total of four degrees of freedom in space in one translation and three rotations, which increases the grabbing of the utility model The stability of the box prevents the vibration problem of the box during the handling and lifting process.

Description of drawings

Below in conjunction with accompanying drawing and embodiment the utility model is further described.

Fig. 1 is the three-dimensional structure schematic diagram of the present utility model;

Fig. 2 is a schematic diagram of the cooperation of the fixed plate of the present invention, four electric slide rails and four mechanical claws;

Fig. 3 is a schematic diagram of the three-dimensional structure of the mechanical claw of the present invention;

Fig. 4 is a three-dimensional structural schematic diagram of a four-degree-of-freedom parallel mechanism of the present invention.

specific embodiment

In order to make the technical means, creative features, goals and effects achieved by the utility model easy to understand, the utility model will be further elaborated below in conjunction with specific illustrations. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

As shown in Figure 1, Figure 2, Figure 3 and Figure 4, a four-degree-of-freedom self-stabilizing box grab based on a parallel mechanism includes a four-degree-of-freedom parallel mechanism 1, a fixed plate 2, four electric slide rails 3 and Four mechanical claws 4, the four-degree-of-freedom parallel mechanism 1 is located directly above the fixed plate 2, and the four-degree-of-freedom parallel mechanism 1 and the fixed plate 2 are connected by bolts; the fixed plate 2 has a square structure, The four electric slide rails 3 are respectively located on the four top angle bisectors of the fixed plate 2, and the electric slide rails 3 are fixedly connected with the fixed plate 2; the four mechanical claws 4 are installed on the four electric slide rails 3 respectively below.

As shown in Figure 4, the four-degree-of-freedom parallel mechanism 1 includes a moving platform 11, a fixed platform 12, a support rod 13, a universal joint 14, a moving slider 15 and a guide rail 16; the moving platform 11 is Circular structure, the fixed platform 12 is a rectangular structure, the number of support rods 13, moving sliders 15 and guide rails 16 is four, and the number of universal joints 14 is eight; the support rods 13 are located on the moving platform 11 Between the fixed platform 12 and the four sides of the moving platform 11, the supporting rods 13 are arranged respectively. One end of the supporting rod 13 is connected with the bottom surface of the moving platform 11 through the universal joint 14, and the other end of the supporting rod 13 is connected with the moving slide through the universal joint 14. The blocks 15 are connected; the guide rails 16 are respectively fixed on the front and rear sides of the fixed platform 12 along the central axis of the fixed platform 12, and the moving slide block 15 is installed on the guide slide rails 16. By controlling the moving slide block 15 in The reciprocating motion on the guide rail 16 realizes the space motion state of the present invention, and the four-degree-of-freedom parallel mechanism 1 in the 4-CRC mode can realize a total of four degrees of freedom in space, one translation and three rotations.

As shown in Figures 2 and 3, the mechanical claw 4 includes a moving slider 41, an upper jacket 42, a lower jacket 43, a telescopic rod 44, an upper ear seat 45, a lower ear seat 46 and a hydraulic cylinder 47; The moving slider 41 is fixed on the top of the upper jacket 42, and the moving slider 41 is provided with an installation ear hole; the bottom of the upper jacket 42 is connected with the top of the lower jacket 43 through a telescopic rod 44; The above-mentioned upper jacket 42 has a triangular column structure, and upper circular through holes are evenly opened on both side walls of the upper jacket 42, and an upper sleeve is arranged at the top corner of the bottom end of the upper jacket 42, and the inner diameter of the upper sleeve is slightly Greater than the outer diameter of the telescopic rod 44; the lower jacket 43 is also in a triangular column structure, and the lower jacket 43 is evenly provided with a lower circular through hole on the two side walls, and the upper corner of the lower jacket 43 is provided with a lower jacket barrel, and the inner diameter of the lower sleeve is slightly larger than the outer diameter of the telescopic rod 44, the bottom end of the lower jacket 43 is provided with shovel ears, the shovel ears are in a fan-shaped structure, and the front port of the shovel ears is provided with an inclination; the upper ear seat 45 is fixed On the outer wall of the bottom end of the upper jacket 42, the lower ear seat 46 is fixed on the outer wall of the top end of the lower jacket 43, the upper ear seat 45 and the lower ear seat 46 are both Ω-shaped structures, and the hydraulic cylinder 47 is located between the upper ear seat 45 and the lower ear seat 43. Between the lower lugs 46, the bottom of the hydraulic cylinder 47 is fixed to the upper lug 45, and the top of the hydraulic cylinder 47 is connected to the lower lug 46.

As shown in FIG. 4 , the support rod 13 is made of stainless steel, and the use of the support rod 13 made of stainless steel can avoid the problem of rusting.

As shown in Figure 4, the two ends of the guide slide rail 16 are respectively provided with limit baffles, which prevent the moving slider 15 from moving back and forth on the guide slide rail 6 by setting the limit baffles at the two ends of the guide slide rail 16 Occurs the phenomenon that breaks away from guide rail 16 when.

When in use, first start the electric slide rail 3 in the positive direction, and drive the four mechanical claws 4 to stretch outwards at the same time through the electric slide rail 3; Downward movement, and at the same time realize the rotation and direction-changing movement of the entire mechanical claw 4, so that the four mechanical claws 4 just abut against the four corners of the box, and when the shovel ear at the bottom of the lower jacket 43 reaches the bottom of the box, reverse direction Start the electric slide rail 3, and drive the four mechanical claws 4 to shrink inward at the same time through the electric slide rail 3. When the inner wall of the upper jacket 42 and the inner wall of the lower jacket 43 contact the two outer walls at the corner of the box, the electric slide rail is stopped. rail 3, to realize the fixing of the four sides of the box body, and then start the hydraulic cylinder 47 in the reverse direction, and the contraction of the hydraulic cylinder 47 drives the vertical upward movement of the lower jacket, when the inner surface of the top of the upper jacket 42 and the bottom of the lower jacket 43 Stop the hydraulic cylinder 47 when the inner surface is in contact with the upper and lower sides of the casing respectively, so as to realize the fixing of the upper and lower ends of the casing, and lift the fixed plate 2 by a crane to realize lifting and carrying of the casing; in the lifting and carrying process, It realizes the spatial motion state of the present invention by controlling the reciprocating motion of the mobile slider 15 on the guide rail 16. The four-degree-of-freedom parallel mechanism 1 using the 4-CRC mode can realize one translation and three rotations in space, a total of four The degree of freedom movement increases the stability of the utility model for grasping the box body, and prevents the vibration problem of the box body during the lifting process.

The basic principles, main features and advantages of the present utility model have been shown and described above. Those skilled in the art should understand that the utility model is not limited by the above-mentioned embodiments. The descriptions in the above-mentioned embodiments and the description only illustrate the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model The utility model also has various changes and improvements, and these changes and improvements all fall within the scope of the claimed utility model. The scope of protection required by the utility model is defined by the appended claims and their equivalents.

Claims (3)

1. A four-degree-of-freedom self-stabilizing box grab based on a parallel mechanism, comprising a four-degree-of-freedom parallel mechanism, a fixed plate, four electric slide rails and four mechanical claws, characterized in that: the four-degree-of-freedom parallel The mechanism is located directly above the fixed plate, and the four-degree-of-freedom parallel mechanism and the fixed plate are connected by bolts; the fixed plate has a square structure, and the four electric slide rails are respectively located on the four corner bisectors of the fixed plate. And the electric slide rail is fixedly connected with the fixed plate; the four mechanical claws are respectively installed directly under the four electric slide rails; wherein: The four-degree-of-freedom parallel mechanism includes a moving platform, a fixed platform, a support rod, a universal joint, a moving slider and a guide rail; the moving platform is a circular structure, the fixed platform is a rectangular structure, the supporting rod, the moving The number of sliders and guide rails is four, and the number of universal joints is eight; the support rods are located between the moving platform and the fixed platform, and the four support rods are respectively arranged on the four sides of the moving platform, and one end of the support rod The bottom end surface of the moving platform is connected through a universal joint, and the other end of the support rod is connected with the moving slider through a universal joint; the guide rails are respectively fixed on the front and rear sides of the fixed platform along the central axis of the fixed platform, The mobile slider is installed on the guide rail; The mechanical claw includes a moving slider, an upper jacket, a lower jacket, a telescopic rod, an upper lug, a lower lug and a hydraulic cylinder; the moving slider is fixed at the top of the upper jacket, and the moving slider is There are installation ear holes; the bottom end of the upper jacket and the top end of the lower jacket are connected by telescopic rods; the upper jacket is a triangular column structure, and the upper jacket is uniformly provided with upper circles on both sides of the jacket. The upper sleeve is arranged at the top corner of the bottom end of the upper jacket, and the inner diameter of the upper sleeve is slightly larger than the outer diameter of the telescopic rod; the lower jacket also has a triangular column structure, and the two sides of the lower jacket A lower circular through hole is evenly opened, a lower sleeve is provided at the top corner of the lower jacket, and the inner diameter of the lower sleeve is slightly larger than the outer diameter of the telescopic rod, and the bottom of the lower jacket is provided with shovel ears, which are in a fan-shaped structure. The front port of the shovel ear is provided with a slope; the upper ear seat is fixed on the outer wall of the bottom end of the upper jacket, and the lower ear seat is fixed on the outer wall of the top end of the lower jacket, and the upper ear seat and the lower ear seat are both Ω Type structure, the hydraulic cylinder is located between the upper ear seat and the lower ear seat, and the bottom end of the hydraulic cylinder is fixed to the upper ear seat, and the top end of the hydraulic cylinder is connected to the lower ear seat. 2. A four-degree-of-freedom self-stabilizing box grab based on a parallel mechanism according to claim 1, characterized in that: the material of the support rod is stainless steel. 3. A four-degree-of-freedom self-stabilizing box grab based on a parallel mechanism according to claim 1, characterized in that: the two ends of the guide slide rail are respectively provided with limit baffles.