CN206456961U - A kind of heavy lift robot - Google Patents
A kind of heavy lift robot Download PDFInfo
- Publication number
- CN206456961U CN206456961U CN201621483601.3U CN201621483601U CN206456961U CN 206456961 U CN206456961 U CN 206456961U CN 201621483601 U CN201621483601 U CN 201621483601U CN 206456961 U CN206456961 U CN 206456961U
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- CN
- China
- Prior art keywords
- hinged
- hydraulic cylinder
- arm
- crawl
- claw
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 210000000078 Claw Anatomy 0.000 claims abstract description 32
- 210000000245 Forearm Anatomy 0.000 claims abstract description 15
- 239000003570 air Substances 0.000 claims 2
- 239000007788 liquids Substances 0.000 claims 1
- 230000015572 biosynthetic process Effects 0.000 abstract description 3
- 238000005755 formation reaction Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 6
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001174 ascending Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000004805 robotic Methods 0.000 description 1
- 230000001360 synchronised Effects 0.000 description 1
Abstract
The utility model is related to a kind of heavy lift robot, including mobile foundation and the mechanical arm being arranged on mobile foundation, and mechanical arm includes large arm, forearm, crawl base, dynamic claw and determines claw；Crawl base lower end is additionally provided with first hydraulic cylinder and the first hydraulic motor, and one end of first hydraulic cylinder is hinged on crawl base, and the other end is hinged on dynamic claw；Mechanical arm also include second hydraulic cylinder, the second hydraulic motor, the 3rd hydraulic cylinder and with the 3rd hydraulic motor；One end of second hydraulic cylinder is hinged in large arm, and the other end is hinged on the forearm；One end of 3rd hydraulic cylinder is hinged in large arm, and the other end is hinged on mobile foundation.The utility model is by capturing pedestal, determining claw and the variable spaces of dynamic claw formation holding freight, the goods of different sizes and shapes can be captured, crawl base provides reliable support force with crawl goods when determining claw for handling goods, the crawl goods of different shapes that can stablize.
Description
Technical field
The utility model belongs to robotic technology field, and in particular to a kind of heavy lift robot.
Background technology
With economic rapid development, the logistics of China, warehousing industry have also obtained development at full speed, to goods in certain place
Handling be the essential link of logistic storage industry.Automation that the handling of bulk goods has been realized substantially or
Semi-automation, but increase with cost of human resources and labor intensity is big, the low factor of operating efficiency does not adapt to the modern times
The demand for development of compound stream, warehousing industry.
The handling to heavy goods typically use heavy-duty machines or mechanical arm, size, shape due to goods in the prior art
Shape differs, therefore high to the versatility for loading and unloading machine, so as to load and unload different goods.But, in existing mechanical arm
In, mechanical arm clamp different size goods when, the clamping range of mechanical arm is limited, exist be difficult to stably goods clamping this
One problem.
Utility model content
In order to solve the problem of mechanical arm present in prior art is difficult to stable holding goods and low versatility, this practicality
It is new to provide a kind of heavy lift robot, have the advantages that goods clamping is stable and versatility is high.The utility model will be solved
Technical problem certainly is achieved through the following technical solutions：
A kind of heavy lift robot, including mobile foundation and the mechanical arm being arranged on mobile foundation, the mechanical arm
Including the large arm being arranged on mobile foundation, the forearm being hinged with large arm, the crawl base being fixed on forearm, it is hinged on crawl
The dynamic claw of base lower end and be fixed on crawl base upper end determine claw；The crawl base lower end is additionally provided with first hydraulic cylinder
With the first hydraulic motor, one end of first hydraulic cylinder is hinged on crawl base, and the other end is hinged on dynamic claw；Described first
Hydraulic motor is connected with the first hydraulic cylinder；
The mechanical arm also includes second hydraulic cylinder, the second hydraulic motor being connected with second hydraulic cylinder, the 3rd hydraulic cylinder
And the 3rd hydraulic motor being connected with the 3rd hydraulic cylinder；One end of the second hydraulic cylinder is hinged in the large arm, another
End is hinged on the forearm；One end of 3rd hydraulic cylinder is hinged in the large arm, and the other end is hinged on the movement
On pedestal.
Further, the mobile foundation is provided with supporting plate, provided with multiple synchronous liters between supporting plate and mobile foundation
Sending down abnormally ascending cylinder；The large arm is hinged by support with supporting plate.
Further, the mobile foundation is provided with motor and air pump, motor and first hydraulic motor,
Second hydraulic motor and the connection of the 3rd hydraulic motor, air pump are connected with the synchronization lifting cylinder.
Further, the section of the crawl base sidepiece is arc-shaped.
The beneficial effects of the utility model：
The utility model can be captured by capturing pedestal, determining claw and the variable spaces of dynamic claw formation holding freight
The goods of different sizes and shapes, crawl base provides reliable support force with crawl goods when determining claw for handling goods, moves
Claw passes through first hydraulic cylinder carry out activity, regulation crawl scope, the crawl goods of different shapes that can stablize.This practicality is new
Type is conveniently adjusted the height of mechanical arm by synchronization lifting cylinder, expands the controllable scope of robot.The utility model body
Product is small and simple in construction, easy to operate.
The utility model is described in further details below with reference to drawings and Examples.
Brief description of the drawings
Fig. 1 is the utility model structural representation.
In figure：1st, mobile foundation；2nd, large arm；3rd, forearm；4th, base is captured；5th, claw is moved；6th, claw is determined；7th, the first hydraulic pressure
Cylinder；8th, second hydraulic cylinder；9th, the 3rd hydraulic cylinder；10th, supporting plate；11st, synchronization lifting cylinder；12nd, support；13rd, motor；
14th, air pump.
Embodiment
Reach technological means and effect that predetermined purpose is taken for the utility model is expanded on further, below in conjunction with accompanying drawing
And embodiment is to embodiment of the present utility model, architectural feature and its effect, describe in detail as follows.
A kind of heavy lift robot as shown in Figure 1, including mobile foundation 1 and the machinery being arranged on mobile foundation 1
Arm, large arm 2 that the mechanical arm includes being arranged on mobile foundation 1, the forearm 3 being hinged with large arm 2, is fixed on forearm 3
Crawl base 4, the dynamic claw 5 for being hinged on crawl base 4 lower end and be fixed on crawl base 4 upper end determine claw 6；The crawl
The lower end of base 4 is additionally provided with the hydraulic motor of first hydraulic cylinder 7 and first, and one end of first hydraulic cylinder 7 is hinged on crawl base 4,
The other end is hinged on dynamic claw 5；First hydraulic motor is connected with the first hydraulic cylinder 7.Capture cutting for the sidepiece of base 4
Face is arc-shaped.Crawl base 4, dynamic claw 5 and the space for determining the formation holding freight of claw 6, determine claw 6 and are fixed on crawl base
4 upper end, can set two to determine claw 6, two dynamic claws 5, and fixed being provided when determining claw 6 for mechanical arm crawl goods can
The support force leaned on, crawl base 4 is also supported to goods simultaneously, can reach the effect of stable crawl goods.Dynamic claw 5
By the position of the regulation activity of first hydraulic cylinder 7, different size, the goods of shape can be captured；Use hydraulic structure, power output
Greatly, operating efficiency is high, stable and reliable for performance, and working service is convenient, simple in construction, saves cost.Crawl base 4 is circular arc
Bent plate, add goods and crawl base 4 contact area, further increase the stability of crawl, and add crawl
Receiving space afterwards.
The mechanical arm also includes second hydraulic cylinder 8, the second hydraulic motor being connected with second hydraulic cylinder 8, the 3rd hydraulic pressure
Cylinder 9 and the 3rd hydraulic motor being connected with the 3rd hydraulic cylinder 9；One end of the second hydraulic cylinder 8 is hinged on the large arm 2
On, the other end is hinged on the forearm 3；One end of 3rd hydraulic cylinder 9 is hinged in the large arm 2, and the other end is hinged
On the mobile foundation 1.Second hydraulic cylinder 8 drives the forearm 3 being hinged to be moved, and has reached mechanical arm in different angles
Capture goods.The large arm 2 that the driving of 3rd hydraulic cylinder 9 is hinged on mobile foundation 1 is moved in different angles, the He of large arm 2
Forearm 3 can capture goods from required different angles, improve the versatility of robot.
The mobile foundation 1 is provided with supporting plate 10, and multiple synchronization lifting gas are provided between supporting plate 10 and mobile foundation 1
Cylinder 11；The large arm 2 is hinged by support 12 with supporting plate 10.Synchronization lifting cylinder 11 realizes the descending operation of mechanical arm, enters
One step expands the controllable scope of mechanical arm.
The mobile foundation 1 is provided with motor 13 and air pump 14, motor 13 and first hydraulic motor, the
Two hydraulic motors and the connection of the 3rd hydraulic motor, air pump 14 are connected with the synchronization lifting cylinder 11.
The course of work of the present utility model is as follows：Motor 13 and air pump 14 are opened, the people that operates machine work passes through gas
The driving synchronization lifting of pump 14 cylinder 11 is lifted, and mechanical arm is elevated into required position, continues the people that operates machine, motor
Driving first hydraulic cylinder 7, the hydraulic cylinder 9 of second hydraulic cylinder 8 and the 3rd work, the dynamic claw 5 of adjustment, crawl base 4, forearm 3 and big
The angle of arm 2 so that crawl base 4 accurately captures goods.Then, the work of the dynamic claw 5 of the adjustment of first hydraulic cylinder 7 is continued through
Dynamic angle so that goods can be captured by moving claw 5 and determining claw 6, realize the handling of goods.
Above content is to combine specific preferred embodiment further detailed description of the utility model, it is impossible to
Assert that specific implementation of the present utility model is confined to these explanations.For the ordinary skill of the utility model art
For personnel, without departing from the concept of the premise utility, some simple deduction or replace can also be made, should all be regarded
To belong to protection domain of the present utility model.
Claims (4)
1. a kind of heavy lift robot, including mobile foundation（1）Be arranged on mobile foundation（1）On mechanical arm, its feature
It is：The mechanical arm includes being arranged on mobile foundation（1）On large arm（2）With large arm（2）The forearm being hinged（3）, be fixed on
Forearm（3）On crawl base（4）, be hinged on crawl base（4）The dynamic claw of lower end（5）Be fixed on crawl base（4）On
That holds determines claw（6）；The crawl base（4）Lower end is additionally provided with first hydraulic cylinder（7）With the first hydraulic motor, first hydraulic cylinder
（7）One end be hinged on crawl base（4）On, the other end is hinged on dynamic claw（5）On；First hydraulic motor and described the
One hydraulic cylinder（7）Connection；
The mechanical arm also includes second hydraulic cylinder（8）With second hydraulic cylinder（8）The second hydraulic motor, the 3rd hydraulic pressure of connection
Cylinder（9）And with the 3rd hydraulic cylinder（9）3rd hydraulic motor of connection；The second hydraulic cylinder（8）One end be hinged on it is described
Large arm（2）On, the other end is hinged on the forearm（3）On；3rd hydraulic cylinder（9）One end be hinged on the large arm（2）
On, the other end is hinged on the mobile foundation（1）On.
2. a kind of heavy lift robot according to claim 1, it is characterised in that：The mobile foundation（1）It is provided with
Supporting plate（10）, supporting plate（10）And mobile foundation（1）Between be provided with multiple synchronization lifting cylinders（11）；The large arm（2）It is logical
Cross support（12）With supporting plate（10）It is hinged.
3. a kind of heavy lift robot according to claim 2, it is characterised in that：The mobile foundation（1）It is provided with
Motor（13）And air pump（14）, motor（13）With first hydraulic motor, the second hydraulic motor and the 3rd liquid
Pressure motor is connected, air pump（14）With the synchronization lifting cylinder（11）Connection.
4. according to a kind of any described heavy lift robots of claim 1-3, it is characterised in that：The crawl base（4）
The section of sidepiece is arc-shaped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621483601.3U CN206456961U (en) | 2016-12-30 | 2016-12-30 | A kind of heavy lift robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621483601.3U CN206456961U (en) | 2016-12-30 | 2016-12-30 | A kind of heavy lift robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206456961U true CN206456961U (en) | 2017-09-01 |
Family
ID=59697265
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621483601.3U Expired - Fee Related CN206456961U (en) | 2016-12-30 | 2016-12-30 | A kind of heavy lift robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206456961U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108033277A (en) * | 2017-12-05 | 2018-05-15 | 长沙展朔轩兴信息科技有限公司 | A kind of robot for carrying and piling |
| CN108750647A (en) * | 2018-06-07 | 2018-11-06 | 台聪 | A kind of pipe part carrying carrier |
| CN109356111A (en) * | 2018-11-21 | 2019-02-19 | 朱伟桃 | A kind of packaged type floodgate opening and closing urgent opening and closing device of failure |
| CN109483535A (en) * | 2018-10-29 | 2019-03-19 | 南京晓庄学院 | A kind of machine handgrip and its application method picking and placing material |
-
2016
- 2016-12-30 CN CN201621483601.3U patent/CN206456961U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108033277A (en) * | 2017-12-05 | 2018-05-15 | 长沙展朔轩兴信息科技有限公司 | A kind of robot for carrying and piling |
| CN108750647A (en) * | 2018-06-07 | 2018-11-06 | 台聪 | A kind of pipe part carrying carrier |
| CN109483535A (en) * | 2018-10-29 | 2019-03-19 | 南京晓庄学院 | A kind of machine handgrip and its application method picking and placing material |
| CN109356111A (en) * | 2018-11-21 | 2019-02-19 | 朱伟桃 | A kind of packaged type floodgate opening and closing urgent opening and closing device of failure |
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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 |
Granted publication date: 20170901 Termination date: 20171230 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |