CN208438336U - Aerial platform with mechanical arm - Google Patents

Aerial platform with mechanical arm Download PDF

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Publication number
CN208438336U
CN208438336U CN201821134721.1U CN201821134721U CN208438336U CN 208438336 U CN208438336 U CN 208438336U CN 201821134721 U CN201821134721 U CN 201821134721U CN 208438336 U CN208438336 U CN 208438336U
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CN
China
Prior art keywords
mechanical arm
armed
aerial platform
long
galianconism
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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
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CN201821134721.1U
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Chinese (zh)
Inventor
刘澎
刘一澎
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刘一澎
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Priority to CN201821134721.1U priority Critical patent/CN208438336U/en
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Publication of CN208438336U publication Critical patent/CN208438336U/en
Expired - Fee Related legal-status Critical Current
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Abstract

The utility model relates to a kind of aerial platforms with mechanical arm.It can assist in, instead of high altitude operation person works, reduce a possibility that high altitude operation personnel cause danger.The utility model is a kind of aerial platform with mechanical arm, the aerial platform with mechanical arm includes the main body that can be moved on the ground, console and aloft-work mechanical arm, the console and the aloft-work mechanical arm are installed in the main body, operation control system is installed in the console, the operation control system is connected with the aloft-work mechanical arm, the aloft-work mechanical arm includes turntable, shoulder, it is long-armed, ancon, galianconism and wrist, task operating portion for executing high altitude operation task is installed on the wrist.

Description

Aerial platform with mechanical arm
Technical field
The utility model relates to a kind of aerial platforms with mechanical arm.In particular to a kind of high altitude operation Device has the mechanical arm that can be applied in the fields such as window is wiped in high-altitude, electric wire is set up.
Background technique
With the development of the society, more and more places need to carry out high altitude operation.Such as in the presence of the glass to eminence into Row wiping such as is set up, is connected to the electric wire in high-altitude at the demands.For the people for carrying out high altitude operation, it is likely that can occur Various accidents.From the Personal Safety of high altitude operation personnel, it is desirable that advanced, intelligent aerial lift device is provided, To assist, instead of high altitude operation person works, reduce a possibility that high altitude operation personnel cause danger.
However, the previous occupied space of the mechanical arm applied to high altitude operation is usually larger, and do not account for pair The each arm for constituting mechanical arm carries out possible configurations, and there are room for improvement.
In addition, the job order one that previous mechanical arm can be done, can not adapt to different types of High-Altitude Mission.
Utility model content
Utility model will solve the problems, such as
The utility model is put forward based on the above subject, and its purpose is to provide a kind of high-altitudes with mechanical arm Apparatus for work can adapt to different types of High-Altitude Mission, assists, instead of high altitude operation person works, reduces high altitude operation A possibility that personnel cause danger, also, consider that each arm function to be played of constituting mechanical arm is come to whole mechanical arm Carry out reasonable configuration.
The solution to the problem
The utility model is a kind of aerial platform with mechanical arm, which is characterized in that should be with the height of mechanical arm Idle job device includes the main body that can be moved on the ground, console and aloft-work mechanical arm, the console and institute It states aloft-work mechanical arm to be installed in the main body, operation control system, the operation control is installed in the console System processed is connected with the aloft-work mechanical arm, and the aloft-work mechanical arm includes: turntable, is freely rotatable; Shoulder is installed on the turntable, can be rotated around 1st axis parallel with the turntable;It is long-armed, one end installation It, can be flexible along the long-armed length direction in the shoulder;Ancon, be set to the long-armed other end, can around with Parallel the 2nd axis rotation of 1st axis;Galianconism, one end are installed on the ancon, can be along the length side of the galianconism To flexible;And wrist, it is set to the other end of the galianconism, is installed with alignment sensor and ranging sensing in the wrist Device, also, the task operating portion for executing high altitude operation task is installed on the wrist, the galianconism utilizes motor to drive Dynamic ball-screw group transmission, the long-armed scheme restricted using straight line driving mechanism plus step block-row.
Further, the galianconism includes direct current generator portion, ball-screw and feed screw nut, and power is from the direct current Machine portion is transmitted by gear transmission mode to the ball-screw, and the ball-screw is rotated relative to the feed screw nut, from And the galianconism is driven to stretch.
Further, it is described it is long-armed utilize hydraulic-driven.
Further, the long-armed model for being in 70 °~110 ° relative to the angle of the turntable under elongation state In enclosing.
Further, the task operating portion is the window-cleaning device for being fixedly installed with wiping cloth (rags).
Further, water flowing path is set along the side of the aloft-work mechanical arm, it should the high-altitude work with mechanical arm Industry device supplies clear water via the water flowing path to ejection at the wrist from the water receiver for being set to the main body.
Further, the task operating portion is the clamping piece that can clamp electric wire.
Further, the task operating portion is manipulator.
The effect of utility model
Using the utility model, it can assist in, instead of high altitude operation person works, reduce high altitude operation personnel and cause danger A possibility that.By the scalable design of arm, the memory space requirements of mechanical arm can be reduced.
Using the utility model, by solving the problems, such as operating distance using long-armed, refinement is solved using galianconism The problem of, to realize the possible configurations of whole scalable mechanical arm.
Using the utility model, different task operating portions is installed by the end in mechanical arm, high altitude operation can be made Device adapts to different types of High-Altitude Mission.
Detailed description of the invention
Fig. 1 is the overall structure figure of the aerial platform with mechanical arm of the utility model.
Fig. 2 is the stereoscopic schematic diagram of the mechanical arm of the aerial platform of the utility model.
Fig. 3 is the long-armed structure chart of the aerial platform with mechanical arm.
Fig. 4 is the structure chart of the galianconism of the aerial platform with mechanical arm.
Specific embodiment
The utility model is made a more thorough explanation below with embodiment.The utility model can be presented as it is a variety of not Same form, should not be construed as limited to the exemplary embodiments described herein.
The spatially relative terms such as "upper", "lower", "left", "right" can be used herein for ease of explanation, be used for Relationship of the elements or features relative to another elements or features shown in explanatory diagram.It should be understood that in addition to figure Shown in except orientation, spatial terminology is intended to include the different direction of device in use or operation.For example, if in figure Device be squeezed, the element for being stated as being located at other elements or feature "lower" will be located into other elements or feature "upper". Therefore, exemplary term "lower" may include both upper and lower orientation.Device, which can be positioned in other ways, (to be rotated by 90 ° or position In other orientation), it can be interpreted accordingly used herein of the opposite explanation in space.
Fig. 1 is the overall structure figure of the aerial platform with mechanical arm of the utility model.This has mechanical arm Aerial platform includes main body 10, console 12 and aloft-work mechanical arm 20.Main body 10 has wheel 13, can be on ground On move freely.The operation support stake 11 that stake is equipped with scalable operation is distinguished on the front and rear sides wall of main body 10, in main body 10 Top is installed with aloft-work mechanical arm 20 and console 12.Operation control system, the behaviour are installed in console 12 Action control system is connected with aloft-work mechanical arm 20, controls for the movement to aloft-work mechanical arm 20.High-altitude Work machine arm 20 includes: turntable 1, is freely rotatable;Shoulder 2 is installed on turntable 1, can around with turntable 1 Parallel the 1st axis rotation;Long-armed 3, one end is installed on shoulder 2, can stretch along long-armed 3 length direction;Ancon 4, Set on long-armed 3 other end, can be rotated around 2nd axis parallel with the 1st axis;Galianconism 5, one end are installed on ancon 4, energy Enough length directions along galianconism 5 are flexible;And wrist 6, it is set to the other end of galianconism 5.
Aloft-work mechanical arm 20 further includes task operating portion 7, is installed on wrist 6, for executing high altitude operation task. Task operating portion 7 can install different tools according to the task that aloft-work mechanical arm 20 to be executed.For example, to execute Task be high-altitude wipe window when, task operating portion 7 can be replaced the window-cleaning device for being fixedly installed with wiping cloth (rags), thus as high-altitude is made The movement of industry mechanical arm 20 carries out wiping window, specifically, can complete to wipe by the angle of control ancon 4 and stretching for galianconism 5 Wipe the movement of glass.At this point it is possible to water flowing path 16 be arranged along the side of aloft-work mechanical arm 20, from the storage for being set to main body 10 Hydrophone 15 supplies clear water to ejection at wrist 6, so as to provide clean water to clean the windows via water flowing path 16.It to hold Capable task be electric overhead line set up, connection when, task operating portion 7 can be replaced manipulator, by the movement to manipulator into Row finely controls and completes the operation of electric wire connection, alternatively, task operating portion is the clamping piece that can clamp electric wire, to make The power worker of industry delivers electric wire.
It is installed with alignment sensor 13 and distance measuring sensor 14 in wrist 6, alignment sensor 13 can be to console 12 Its position relative to console 12, height is returned to, distance measuring sensor 14 is for measuring the location of wrist 6 relative to work The positional relationship of target (such as glass to be wiped etc.).In this way, console 12 is except can be according to the rotation angle of shoulder 2, ancon 4 Degree and long-armed 3 and galianconism 5 position of the collapsing length to determine the end of aloft-work mechanical arm 20 except, can also basis Alignment sensor 13 carries out more accurate positioning, and the accurate operation for after provides benchmark.
Fig. 2 is the stereoscopic schematic diagram of the mechanical arm of the aerial platform of the utility model.In Fig. 2, task is omitted Operation portion 7.Shoulder 2 can be rotated around the 1st axis CL1, and the 1st axis CL1 is parallel relative to the plane where turntable 1.Long-armed 3 It can stretch along long-armed 3 length direction.Long-armed 3 ask in the work of aloft-work mechanical arm 20 for solving operating distance Topic, in the present embodiment, long-armed 3 being capable of multi-stage expansion.Ancon 4 can be rotated around the 2nd axis CL2, and the 2nd axis CL2 is opposite It is parallel in the 1st axis CL1.Galianconism 5 can be flexible along the length direction of galianconism 5, work of the galianconism 5 in aloft-work mechanical arm 20 In for solving the problems, such as refinement, in the present embodiment, galianconism 5 can two-stage it is flexible.
Fig. 3 is long-armed 3 structure chart of the aerial platform with mechanical arm.
It is preferential that brachium variation is selected to be relatively easy to since long-armed 3 effect is to determine the height of high altitude operation Scalable mechanical arm.Long-armed 3 do not need higher positioning accuracy, therefore even if its processing and assembly precision be not high, can be complete yet At its task.
In the present embodiment, long-armed 3 scheme restricted using straight line driving mechanism plus step block-row.Linear drives Mechanism usually has that self weight is larger, but in the present invention simultaneously plus step block-row's rope mechanical arm low cost Do not become limitation.By angle of the limitation long-armed 3 under elongation state relative to turntable 1, it can reduce long-armed 3 relative to master The unstability of body.In the present embodiment, long-armed 3 70 °~110 ° are in relative to the angle of turntable under elongation state In the range of.
Long-armed 3 include straight line driving mechanism 31, the 1st grade of pars contractilis 32, the 2nd grade of pars contractilis 33,3rd level pars contractilis the 34, the 4th Grade pars contractilis 35, the 1st pulley 36, the 2nd pulley 37, the 3rd pulley 38 and the 4th pulley 39.Illustrate that long-armed 3 stretch for extending Long mode.When straight line driving mechanism 31 is worked and move the 2nd grade of pars contractilis 33 to the right relative to the 1st grade of pars contractilis 32 When, under the action of the 1st pulley 36 and the 2nd pulley 37,3rd level pars contractilis 34 moves to the right relative to the 2nd grade of pars contractilis 33, Under the action of the 3rd pulley 38 and the 4th pulley 39, the 4th grade of pars contractilis 35 moves to the right relative to 3rd level pars contractilis 34.From And long-armed 3 overall elongated.Certainly, it long-armed 3 is not limited to that level Four is flexible, is also possible to the flexible of other quantity.In addition, long-armed 3 Hydraulic-driven can be used.
Fig. 4 is the structure chart of the galianconism 5 of the aerial platform with mechanical arm.
Since the effect of galianconism 5 is to carry out refinement, it is equipped in the wrist 6 for being set to its other end for executing The task operating portion 7 of high altitude operation task (for carrying out wiping window, electric wire connection etc.), therefore preferential selection processing and assembly precision Higher scalable mechanical arm is as galianconism 5.In addition, can also be carried out to long-armed 3 precision by the precision for improving galianconism 5 Compensation.
In the present embodiment, the advantages of scheme that galianconism 5 is driven using motor driven ball screws group, the program is to pass Efficiency of movement is high, self weight is small, structure is simple.Certainly, this scheme haves the shortcomings that rigidity is relatively low, but since galianconism 5 is main Meticulous process is carried out, therefore the limitation of rigidity is not problem for galianconism 5.
Galianconism 5 includes direct current generator portion 51, ball-screw 52 and feed screw nut 53.Direct current generator portion 51 is arranged in the 1st Cylinder 56 connects drive shaft by shaft coupling, then nibbles via the driving gear 54 for being installed on drive shaft and relative to driving gear 54 The driven gear 55 of conjunction is connected to ball-screw 52.Opposite it can cannot turn with respect to sliding relative to the 1st 56 for 2nd 57 It is dynamic.Feed screw nut 53 and the 2nd 57 are connected.Power is passed by gear transmission mode to ball-screw 52 from direct current generator portion 51 It passs, ball-screw 52 is rotated relative to feed screw nut 53, so that galianconism 5 be driven to stretch.
When having the aerial platform operation of mechanical arm, operative goals are made relative to high-altitude determines according to actual conditions The positional relationship of industry device.
Firstly, console is adjusted the direction of turntable, so that aloft-work mechanical arm is towards operative goals.So Afterwards, it controls long-armed, the long-armed angle relative to turntable is made to be in 90 °.Long-armed length is adjusted so as to adjust long-armed End height, it is preferred that so that ancon is in same or substantially sustained height relative to operative goals.In addition, even if high The distance of idle job device in the horizontal direction is slightly larger or smaller, can also be by adjusting long-armed relative to turntable angulation Come adjust aerial platform between operative goals in the horizontal direction at a distance from.
After long-armed posture has been determined, it is adjusted by the length of angle and galianconism to axle portion, so that The end of galianconism is close to operative goals.According to the numerical value that alignment sensor and distance measuring sensor return, accurate control galianconism It stretches and controls the posture of the rotation and task operating portion of axle portion relative to wrist, thereby executing operation process.
In the present invention, according to long-armed and galianconism different role and different demands using different types of scalable Mechanical arm, to realize the global optimization to aloft-work mechanical arm.
In the present invention, may be designed in, long-armed 3 and galianconism 5 can be revolved around the axis of its length direction Turn, to realize more freedom degrees, completes more complicated movement.
Above-mentioned example is only intended to illustrate the utility model, and in addition to this, also there are many different embodiments, and these Embodiment be all those skilled in the art after comprehension the utility model thought it is also envisioned that therefore, no longer arrange one by one herein It lifts.

Claims (8)

1. a kind of aerial platform with mechanical arm, which is characterized in that
The aerial platform with mechanical arm includes the main body that can be moved on the ground, console and high altitude operation machine Tool arm,
The console and the aloft-work mechanical arm are installed in the main body, and operation control is installed in the console System processed, the operation control system are connected with the aloft-work mechanical arm, and the aloft-work mechanical arm includes: rotation Platform is freely rotatable;Shoulder is installed on the turntable, can be revolved around 1st axis parallel with the turntable Turn;Long-armed, one end is installed on the shoulder, can be flexible along the long-armed length direction;Ancon is set to described long-armed The other end, can be rotated around 2nd axis parallel with the 1st axis;Galianconism, one end are installed on the ancon, can Length direction along the galianconism is flexible;And wrist, it is set to the other end of the galianconism,
It is installed with alignment sensor and distance measuring sensor in the wrist, also,
Task operating portion for executing high altitude operation task is installed on the wrist,
The galianconism is driven using motor driven ball screws group, and the long-armed use straight line driving mechanism adds step block- Arrange the scheme of rope.
2. the aerial platform according to claim 1 with mechanical arm, which is characterized in that
The galianconism includes direct current generator portion, ball-screw and feed screw nut,
Power is transmitted by gear transmission mode to the ball-screw from the direct current generator portion, the ball-screw relative to The feed screw nut rotation, so that the galianconism be driven to stretch.
3. the aerial platform according to claim 1 with mechanical arm, which is characterized in that
It is described it is long-armed utilize hydraulic-driven.
4. the aerial platform according to claim 1 with mechanical arm, which is characterized in that
It is described it is long-armed under elongation state relative to the angle of the turntable be in 70 °~110 ° in the range of.
5. the aerial platform according to claim 1 with mechanical arm, which is characterized in that
The task operating portion is the window-cleaning device for being fixedly installed with wiping cloth (rags).
6. the aerial platform according to claim 5 with mechanical arm, which is characterized in that
Water flowing path is set along the side of the aloft-work mechanical arm, the aerial platform that should have mechanical arm is set to institute certainly The water receiver for stating main body supplies clear water to ejection at the wrist via the water flowing path.
7. the aerial platform according to claim 1 with mechanical arm, which is characterized in that
The task operating portion is the clamping piece that can clamp electric wire.
8. the aerial platform according to claim 1 with mechanical arm, which is characterized in that
The task operating portion is manipulator.
CN201821134721.1U 2018-07-18 2018-07-18 Aerial platform with mechanical arm Expired - Fee Related CN208438336U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201821134721.1U CN208438336U (en) 2018-07-18 2018-07-18 Aerial platform with mechanical arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201821134721.1U CN208438336U (en) 2018-07-18 2018-07-18 Aerial platform with mechanical arm

Publications (1)

Publication Number Publication Date
CN208438336U true CN208438336U (en) 2019-01-29

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Application Number Title Priority Date Filing Date
CN201821134721.1U Expired - Fee Related CN208438336U (en) 2018-07-18 2018-07-18 Aerial platform with mechanical arm

Country Status (1)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111558068A (en) * 2020-04-07 2020-08-21 深圳市优必选科技股份有限公司 Epidemic prevention robot
CN111558068B (en) * 2020-04-07 2021-08-27 深圳市优必选科技股份有限公司 Epidemic prevention robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111558068A (en) * 2020-04-07 2020-08-21 深圳市优必选科技股份有限公司 Epidemic prevention robot
CN111558068B (en) * 2020-04-07 2021-08-27 深圳市优必选科技股份有限公司 Epidemic prevention robot

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GR01 Patent grant
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20190129

Termination date: 20190718

CF01 Termination of patent right due to non-payment of annual fee