CN206085049U - Omnidirectional movement formula power -assisted machine hand suitable for narrow and small space - Google Patents
Omnidirectional movement formula power -assisted machine hand suitable for narrow and small space Download PDFInfo
- Publication number
- CN206085049U CN206085049U CN201620963959.XU CN201620963959U CN206085049U CN 206085049 U CN206085049 U CN 206085049U CN 201620963959 U CN201620963959 U CN 201620963959U CN 206085049 U CN206085049 U CN 206085049U
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- omni
- small space
- linkage
- head tree
- cylinder
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Abstract
The utility model relates to a manipulator especially relates to an omnidirectional movement formula power -assisted machine hand suitable for narrow and small space, include the platform frame and set up a plurality of mecanum wheel in the frame below, battery and dc -to -ac converter including omnidirectional movement platform and the power -assisted machine hand of setting on the omnidirectional movement platform, omnidirectional movement platform, power -assisted machine handbag draws together the head tree and hinges the link mechanism on the head tree, and the head tree is rotatory for the platform frame, head tree and link mechanism's coupling point in link mechanism's intermediate position, and link mechanism's one end is equipped with the elevation structure who is used for going up and down link mechanism, and link mechanism's the other end is equipped with the execution end that rotates around link mechanism, the utility model discloses the chassis is the mecanum wheel omnidirectional movement platform, removes in a flexible way, can remove in narrow and small space.
Description
Technical field
The utility model is related to a kind of manipulator, more particularly to a kind of Omni-mobile formula booster engine suitable for small space
Tool hand.
Background technology
Boosting manipulator, be it is a kind of it is novel, for the power assistive device of laborsaving operation when material handling and installation.It is ingenious
The equilibrium principle of ground application of force, makes operator carry out corresponding push-and-pull to weight, so that it may in space inner equilibrium running fix.Weight
Quick condition is formed in lifting or decline, by gas circuit Z-operation power is ensured, operated without the need for skilled crawl, operator's hand push
Draw weight, it is possible to any position weight being put into exactly in space.Due to agravicization, accurate directly perceived, operation
Convenient, safe and efficient the features such as, assistance mechanical arm be widely used in the material transfer in modern industry, high-frequency carry, it is accurate
The occasions such as positioning, part assembling.
Omni-mobile platform：Omni-directional wheel group adopts Mecanum wheel technology, be capable of achieving laterally, longitudinal direction, oblique traveling and
The rotation of 360 ° of original place, it is mobile flexible, it is easy to be moved freely in small space.
Existing boosting manipulator, typically has and lands fixed, the fixed, hanging mobile of suspension, has the disadvantages that：
(1) ground or ceiling track are fixed on, mobility is poor；(2) structural member volume is larger, is not suitable for entering little spatial operation；
(3) the actuating station free degree is less, adjusts inconvenient, therefore, common fixed boosting manipulator can not meet many works
Make the working condition requirement at scene.
Utility model content
The purpose of this utility model is to overcome the boosting manipulator installation site and mobile space of prior art presence limited
A kind of defect of system, there is provided Omni-mobile formula boosting manipulator suitable for small space.
The utility model solves the technical scheme that its technical problem adopted：
A kind of Omni-mobile formula boosting manipulator suitable for small space, including Omni-mobile platform and it is arranged on omnidirectional
Boosting manipulator on mobile platform, some wheats that described Omni-mobile platform includes platform vehicle frame and is arranged on below vehicle frame
Ke Namu wheels, battery and inverter；Described boosting manipulator includes head tree and the linkage being hinged on head tree, institute
The head tree stated rotates relative to platform vehicle frame, the hinge point of head tree and linkage in the centre position of linkage,
One end of described linkage is provided with the lifting structure for lifting linking member mechanism, and the other end of described linkage is provided with
Around the actuating station that linkage rotates.
Further, described lifting structure is the main balance cylinder being arranged on head tree, described main balance cylinder
Piston head be connected with linkage.
Further, the first revolute joint and the first rotary braking gas are provided between described head tree peace bogie frame
Cylinder.
Further, the second revolute joint and the second rotary braking gas are provided between described actuating station and linkage
Cylinder.
Further, described actuating station include actuating station gyro black assembly, the jaw being arranged on actuating station gyro black assembly,
The jaw cylinder for driving jaw folding and the rotary cylinder for driving jaw rotation.
Further, described linkage is provided with counterweight in the one end near main balance cylinder.
Further, cylinder control cabinet is installed on described head tree.For controlling main balance cylinder, the first revolution gas
The cylinder parts such as cylinder, the second rotary cylinder and rotary braking cylinder.
Beneficial effect：
(1) chassis is Mecanum wheel Omni-mobile platform, mobile flexible, can be moved in small space；
(2) boosting manipulator overall structure small volume, when minimizing, terrain clearance is 50mm, it is adaptable to stretch into from
The relatively low spatial operation of ground level；
(3) actuating station has multiple degrees of freedom, and multi-direction posture adjustment is carried out when facilitating workpiece to assemble.
Description of the drawings
The utility model is described in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 is Omni-mobile formula boosting manipulator composition figure of the present utility model；
Fig. 2 is actuating station structure chart of the present utility model；
Fig. 3 is Omni-mobile platform direction of motion schematic diagram of the present utility model；
Fig. 4 is that boosting manipulator of the present utility model rises to extreme higher position schematic diagram；
Fig. 5 is that boosting manipulator of the present utility model minimizes position view.
Wherein:1st, Omni-mobile platform, 11, platform vehicle frame, 12, Mecanum wheel, 2, boosting manipulator, 21, head tree,
22nd, main balance cylinder, 23, counterweight, 24, linkage, 25, cylinder control cabinet, the 31, first revolute joint, 32, first time
Turn brake cylinder, the 33, second revolute joint, the 34, second rotary braking cylinder, 4, actuating station, 41, jaw cylinder, 42, rotary pneumatic
Cylinder, 43, jaw, 44, actuating station gyro black assembly.
Specific embodiment
Such as Fig. 1-2, a kind of Omni-mobile formula boosting manipulator suitable for small space, including the He of Omni-mobile platform 1
The boosting manipulator 2 being arranged on Omni-mobile platform 1.
Such as Fig. 1-2, Omni-mobile platform 1 includes platform vehicle frame 11 and some Mecanum wheels being arranged on below vehicle frame
12, battery and inverter.
Such as Fig. 1-2, boosting manipulator 2 includes head tree 21 and the linkage 24 being hinged on head tree 21, head tree
21 rotate relative to platform vehicle frame 11, specifically, the first revolute joint 31 and the are provided between the peaceful bogie frame 11 of head tree 21
Single-revolution brake cylinder 32.The hinge point of head tree 21 and linkage 24 is in the centre position of linkage 24, connecting rod machine
One end of structure 24 is provided with for the lifting structure of lifting linking member mechanism 24, and in the present embodiment, lifting structure is to be arranged on head tree
Main balance cylinder 22 on 21, the piston head of main balance cylinder 22 is connected with linkage 24.Linkage 24 is near main flat
One end of weighing apparatus cylinder 22 is provided with counterweight 23.The other end of linkage 24 is provided with the actuating station 4 around the rotation of linkage 24,
Specifically, the second revolute joint 33 and the second rotary braking cylinder 34 are provided between actuating station 4 and linkage 24.
As Fig. 2, actuating station 4 include actuating station gyro black assembly 44, the jaw 43 being arranged on actuating station gyro black assembly 44 drives
The jaw cylinder 41 of the folding of dynamic jaw 43 and the rotary cylinder 42 of the driving rotation of jaw 43.
Such as Fig. 1-2, be provided with head tree 21 the main balance cylinder 22 of control, the first rotary cylinder, the second rotary cylinder and
The control cabinet of rotary braking cylinder.
Operation principle：
Omni-mobile platform 1 is made up of platform vehicle frame 11, Mecanum wheel 12, battery, inverter etc., and core component is four
The Omni-mobile wheel group of the composition of individual Mecanum wheel 12, is capable of achieving as all directions are moved in Fig. 3, and radius of turn is 0.
Such as Fig. 4-5, head tree 21 is installed on platform vehicle frame 11 so that equipment integrally can be with Omni-mobile；Linkage
24 can provide control logic, main balance cylinder 22 and counterweight 23 and carry in ground normal orientation elevating movement by control cabinet 25
For equilibrant force so that the operating physical force of equipment is close to 0；First revolute joint 31 provides the multi-direction free degree, equipment break-off
When, the first rotary braking cylinder 32 can be with locked first revolute joint 31, it is ensured that equipment and operator safety.
Actuating station 4 is used to clamp workpiece and provides the flexible free degree, the flexible drive front end jaw 43 of jaw cylinder 41
Folding, so as to clamp and unclamp workpiece, the rotatable workpiece of rotary cylinder 42 reaches proper angle, facilitates workpiece to enter narrow and small peace
Dress space, actuating station gyro black assembly 44 rotates adjustment position when can conveniently install.
It should be appreciated that specific embodiment described above is only used for explaining the utility model, it is not used to limit this reality
With new.The obvious change extended out by spirit of the present utility model or variation are still in protection of the present utility model
Among scope.
Claims (7)
1. a kind of Omni-mobile formula boosting manipulator suitable for small space, it is characterised in that：Including Omni-mobile platform (1)
With the boosting manipulator (2) being arranged on Omni-mobile platform (1), it is characterised in that：
Described Omni-mobile platform (1) includes platform vehicle frame (11) and some Mecanum wheels being arranged on below vehicle frame
(12), battery and inverter；
Described boosting manipulator (2) includes head tree (21) and the linkage (24) being hinged on head tree (21), described
Head tree (21) rotate relative to platform vehicle frame (11), the hinge point of head tree (21) and linkage (24) is in connecting rod machine
The centre position of structure (24), one end of described linkage (24) is provided with for the lifting structure of lifting linking member mechanism (24),
The other end of described linkage (24) is provided with the actuating station (4) around linkage (24) rotation.
2. the Omni-mobile formula boosting manipulator suitable for small space according to claim 1, it is characterised in that：It is described
Lifting structure to be arranged on main balance cylinder (22) on head tree (21), the piston head of described main balance cylinder (22) with
Linkage (24) connects.
3. the Omni-mobile formula boosting manipulator suitable for small space according to claim 1, it is characterised in that：It is described
Head tree (21) peace bogie frame (11) between be provided with the first revolute joint (31) and the first rotary braking cylinder (32).
4. the Omni-mobile formula boosting manipulator suitable for small space according to claim 1, it is characterised in that：It is described
Actuating station (4) and linkage (24) between be provided with the second revolute joint (33) and the second rotary braking cylinder (34).
5. the Omni-mobile formula boosting manipulator suitable for small space according to claim 1, it is characterised in that：It is described
Actuating station (4) including actuating station gyro black assembly (44), the jaw (43) being arranged on actuating station gyro black assembly (44) drives folder
The jaw cylinder (41) of pawl (43) folding and the rotary cylinder (42) of driving jaw (43) rotation.
6. Omni-mobile formula boosting manipulator (2) suitable for small space according to claim 1, it is characterised in that：
Described linkage (24) is provided with counterweight (23) in the one end near main balance cylinder (22).
7. Omni-mobile formula boosting manipulator (2) suitable for small space according to claim 1, it is characterised in that：
Cylinder control cabinet (25) is installed on described head tree (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620963959.XU CN206085049U (en) | 2016-08-28 | 2016-08-28 | Omnidirectional movement formula power -assisted machine hand suitable for narrow and small space |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620963959.XU CN206085049U (en) | 2016-08-28 | 2016-08-28 | Omnidirectional movement formula power -assisted machine hand suitable for narrow and small space |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206085049U true CN206085049U (en) | 2017-04-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620963959.XU Expired - Fee Related CN206085049U (en) | 2016-08-28 | 2016-08-28 | Omnidirectional movement formula power -assisted machine hand suitable for narrow and small space |
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| Country | Link |
|---|---|
| CN (1) | CN206085049U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107717949A (en) * | 2017-11-23 | 2018-02-23 | 苏州夏木自动化科技有限公司 | Ground moving boosting manipulator |
| CN108394730A (en) * | 2018-04-14 | 2018-08-14 | 昆明小宇科技有限公司 | A kind of intelligent balance movement charging crane |
| CN108529250A (en) * | 2018-04-14 | 2018-09-14 | 昆明小宇科技有限公司 | A kind of intelligent balance moves charging crane column from equipment |
| CN109093605A (en) * | 2018-08-31 | 2018-12-28 | 南京涵铭置智能科技有限公司 | A kind of intelligent accurate positioning mechanical arm |
| CN110605708A (en) * | 2019-09-18 | 2019-12-24 | 长江大学 | Multi-degree-of-freedom single-arm power-assisted manipulator |
| CN110710985A (en) * | 2018-07-12 | 2020-01-21 | 西门子医疗有限公司 | Omnidirectional walking mechanism of computer tomography equipment |
-
2016
- 2016-08-28 CN CN201620963959.XU patent/CN206085049U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107717949A (en) * | 2017-11-23 | 2018-02-23 | 苏州夏木自动化科技有限公司 | Ground moving boosting manipulator |
| CN108394730A (en) * | 2018-04-14 | 2018-08-14 | 昆明小宇科技有限公司 | A kind of intelligent balance movement charging crane |
| CN108529250A (en) * | 2018-04-14 | 2018-09-14 | 昆明小宇科技有限公司 | A kind of intelligent balance moves charging crane column from equipment |
| CN108657831A (en) * | 2018-04-14 | 2018-10-16 | 昆明小宇科技有限公司 | A kind of intelligent balance moves charging crane column from correction method |
| CN108657831B (en) * | 2018-04-14 | 2020-06-30 | 昆明小宇科技有限公司 | Intelligent balance moving loader upright post self-correcting method |
| CN110710985A (en) * | 2018-07-12 | 2020-01-21 | 西门子医疗有限公司 | Omnidirectional walking mechanism of computer tomography equipment |
| US11685186B2 (en) | 2018-07-12 | 2023-06-27 | Siemens Healthcare Gmbh | Omnidirectional chassis for a gantry of a computed tomography device |
| CN110710985B (en) * | 2018-07-12 | 2023-09-19 | 西门子医疗有限公司 | Omnidirectional travelling mechanism of computer tomography equipment |
| CN109093605A (en) * | 2018-08-31 | 2018-12-28 | 南京涵铭置智能科技有限公司 | A kind of intelligent accurate positioning mechanical arm |
| CN110605708A (en) * | 2019-09-18 | 2019-12-24 | 长江大学 | Multi-degree-of-freedom single-arm power-assisted manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170412 Termination date: 20180828 |