CN209410059U - A kind of manipulator upright bar flatcar - Google Patents
A kind of manipulator upright bar flatcar Download PDFInfo
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- CN209410059U CN209410059U CN201821505022.3U CN201821505022U CN209410059U CN 209410059 U CN209410059 U CN 209410059U CN 201821505022 U CN201821505022 U CN 201821505022U CN 209410059 U CN209410059 U CN 209410059U
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Abstract
The utility model discloses a kind of manipulator upright bar flatcar, it include: the first flatcar, revolution job platform, mechanical arm and mechanical gripper, the mechanical gripper includes the first linking arm, the first driving mechanism, rotational coupling mechanism, mounting base, the second driving mechanism, rotation motor and clamp system, and one end of the rotational coupling mechanism and the other end of hinged, the described rotational coupling mechanism of head end of first linking arm and the mounting base are hinged；Second driving mechanism is installed on the rotational coupling mechanism, and the driving end of second driving mechanism connect with the mounting base and drives its rotation；The rotation motor is installed in the mounting base, and the drive shaft of the rotation motor connect with the clamp system and drives its rotation；The drive shaft of the rotation motor, the rotational coupling mechanism and the articulated shaft of first linking arm, the rotational coupling mechanism and the articulated shaft of the mounting base are mutually vertical, so that the rotation of three dimensions can be realized.
Description
Technical field
The utility model relates to railway construction fields, and in particular to a kind of manipulator upright bar flatcar.
Background technique
Since State Council approved in 2004 implements Mid-term and Long-term Plan of the Railway Network, China railways realize fast development.
To the year two thousand twenty, a collection of dose necessary project is constructed and put into operation, and railway network scale reaches 150,000 kilometers, and wherein high-speed railway 30,000 is public
In, the big city of 80% or more covering.By 2025, railway network scale reached 17.5 ten thousand kilometers or so, wherein high-speed railway 3.8
Ten thousand kilometers or so.It looks forward to the year two thousand thirty, interconnects inside and outside basic realization, area border multichannel is unimpeded, the connection of provincial capital's high-speed rail, districts and cities
The situation that quick sensible, county domain covers substantially.
In terms of Construction of Urban Rail Traffic, reach 26 to the city of 2016 end of the year China operation rail traffic, operation is total
3748.67 kilometers of mileage.Wherein the rail traffic of Shanghai Operating cities (including city underground and light rail, similarly hereinafter) overall length reaches 617
Kilometer, it has also become run the longest city of rail line in the world at present.Beijing has runed 554 kilometers, and Guangzhou is runed
308 kilometers, all enter world's operation longest city ranks of rail traffic.Meet the city state affairs of nation-building subway standard
Institute has been approved by 39, estimates that general planning mileage is up to 7000 kilometers at 50 or so to the year two thousand twenty.
Current rail infrastructure, the new steel column of building contact net or while removing old concrete column be all using loop wheel machine or
The dedicated contact net pole erecting working car of railway (loop wheel machine principle), then assist a large amount of worker's installation exercises.Under this work pattern, not only
A large amount of manpowers are consumed, and operation risk is high, operating efficiency is low, has been not suitable for social development requirement, so needs pair
Traditional work mode carries out mechanical modification, optimization.
Utility model content
The purpose of the utility model is to overcome above-mentioned technical deficiencies, provide a kind of manipulator upright bar flatcar, solve existing
A large amount of worker's work compounds, the high technical problem of labor intensive, work risk are needed when H profile steel column is installed in technology.
To reach above-mentioned technical purpose, the technical solution of the utility model provides a kind of manipulator upright bar flatcar, comprising: the
One flatcar, revolution job platform, mechanical arm and mechanical gripper, first flatcar include the first carrying plate, the first rail wheel, the
Two rail wheels, rail and erecting bed, first rail wheel are installed on the bottom of first carrying plate and roll with railroad track
Dynamic connection；The rail is arranged along the length direction of first carrying plate and is fixedly connected with its upper surface；The erecting bed
It is set to the top of the rail；Second rail wheel, which is installed on the bottom of the erecting bed and rolls with the rail, to be connected
It connects；The revolution job platform is installed on the upper surface of the erecting bed；One end of the mechanical arm and the revolution operation horizontal
The side of platform is connected, the other end of the mechanical arm is equipped with the mechanical gripper；The mechanical gripper includes the first connection
Arm, the first driving mechanism, rotational coupling mechanism, mounting base, the second driving mechanism, rotation motor and clamp system, described first
Linking arm is installed on the mechanical arm；The head end of one end of the rotational coupling mechanism and first linking arm is hinged, institute
The other end and the mounting base for stating rotational coupling mechanism are hinged；First driving mechanism is installed on first linking arm
On, the driving end of first driving mechanism connect with the rotational coupling mechanism and drives its rotation；Second driving machine
Structure is installed on the rotational coupling mechanism, and the driving end of second driving mechanism connect with the mounting base and drives its turn
It is dynamic；The rotation motor is installed in the mounting base, and the drive shaft of the rotation motor connect and drives with the clamp system
Move its rotation；
Wherein, the articulated shaft of the drive shaft of the rotation motor, the rotational coupling mechanism and first linking arm, institute
It states rotational coupling mechanism and the articulated shaft of the mounting base is mutually vertical.
Compared with prior art, the beneficial effects of the utility model include: that first driving mechanism is described for driving
The articulated shaft that rotational coupling mechanism drives the clamp system to be parallel to the rotational coupling mechanism rotates；Second driving machine
Structure is for driving the mounting base to deflect by a small margin, so as to adjust the inclined of the clamp system first linking arm two sides relatively
Gyration；The rotation motor is for driving the clamp system axially to rotate along it；It is the drive shaft of the rotation motor, described
The articulated shaft, the rotational coupling mechanism and the articulated shaft of the mounting base of rotational coupling mechanism and first linking arm are homogeneous
It is mutually vertical, so that the rotation of three dimensions can be realized, H profile steel column is grabbed convenient for the clamp system, it is auxiliary to reduce worker
Operation is helped, machinery replaces manually, improves the safety of work；The revolution job platform is for driving the mechanical arm opposite
The erecting bed rotation；The erecting bed can be moved along the rail, convenient for last adjustment, make the bottom surface mounting hole of H profile steel column
It is aligned with the pre-embedded anchoring bolts on ground.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the utility model.
Fig. 2 is the sectional perspective structural schematic diagram after removing the second flatcar in the utility model.
Fig. 3 is the first view stereo structural schematic diagram of mechanical gripper in the utility model.
Fig. 4 is the second view stereo structural schematic diagram of mechanical gripper in the utility model.
Fig. 5 is the overlooking structure diagram of mechanical gripper in the utility model.
Fig. 6 is the present invention looks up structural representation of mechanical gripper in the utility model.
Fig. 7 is the positive structure diagram of mechanical gripper in the utility model.
Fig. 8 is the side structure schematic view of mechanical gripper in the utility model.
Fig. 9 is the schematic perspective view in the utility model after mechanical gripper clamping H profile steel column.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
Please refer to Fig. 1~9, the present embodiment provides a kind of manipulator upright bar flatcars, comprising: the first flatcar 1, the second flatcar 2,
Tractor (not shown), revolution job platform 3, mechanical arm 4 and mechanical gripper 5.
One end of first flatcar 1 is connected with second flatcar 2, the other end of first flatcar 1 with it is described
Tractor is connected；The tractor is used to draw first flatcar 1, the second flatcar 2 is moved along railroad track；Described second
Flatcar 2 is for delivering H profile steel column.
First flatcar 1 includes the first carrying plate 11, the first rail wheel 12, the second rail wheel 13, rail 14 and installation
Platform 15, first rail wheel 12 are installed on the bottom of first carrying plate 11 and roll with railroad track and connect；The steel
Rail 14 is arranged along the length direction of first carrying plate 11 and is fixedly connected with its upper surface；The erecting bed 15 is set to institute
State the top of rail 14；Second rail wheel 13, which is installed on the bottom of the erecting bed 15 and rolls with the rail 14, to be connected
It connects；The revolution job platform 3 is installed on the upper surface of the erecting bed 15；One end of the mechanical arm 4 and the revolution are made
The side of industry platform 3 is connected, the other end of the mechanical arm 4 is equipped with the mechanical gripper 5.
The mechanical gripper include the first linking arm 51, the first driving mechanism 52, rotational coupling mechanism 53, mounting base 54,
Second driving mechanism 55, rotation motor 56 and clamp system 57, the drive shaft of the rotation motor 56, the rotation connection machine
The articulated shaft of the articulated shaft of structure 53 and first linking arm 51, the rotational coupling mechanism 53 and the mounting base 54 is mutually
Vertically.
The head end of one end of the rotational coupling mechanism 53 and first linking arm 51 is hinged, the rotational coupling mechanism
53 other end and the mounting base 54 are hinged；First driving mechanism 52 is installed on first linking arm 51, described
The driving end of first driving mechanism 52 connect with the rotational coupling mechanism 53 and drives its rotation；Specifically, the rotation connects
Connection mechanism 53 includes first connecting rod 531, second connecting rod 532 and attachment base 533, the first connecting rod 531 and the attachment base 533
Equal one end and first linking arm 51 be hinged, the other end of the first connecting rod 531 and the attachment base 533 respectively with it is described
The both ends of second connecting rod 532 are hinged, to form a four-bar mechanism, in the present embodiment, and the first connecting rod 531 and described the
The articulated shaft of one linking arm 51 is defined as A axis, and the articulated shaft of the first connecting rod 531 and the second connecting rod 532 is defined as B
The articulated shaft of axis, the attachment base 533 and first linking arm 51 is defined as C axis, the attachment base 533 and described second
The articulated shaft of connecting rod 532 is defined as D axis, and the A axis, B axle, C axis, D axis are mutually parallel and not coaxial, the A axis and B axle it
Between vertical range be greater than vertical range between the C axis and D axis, so that the rotational coupling mechanism 53 in the present embodiment is one
Crank and rocker mechanism, the first connecting rod 531 rotates lesser deflection angle, and that the attachment base 533 can be driven to rotate is biggish
Deflection angle；The middle part of the attachment base 533 is provided with connector a 533a, the connector 533a and the mounting base 54 is cut with scissors
It connects, and the articulated shaft for defining the connector 533a and the mounting base 54 is E axis.
Second driving mechanism 55 is installed on the rotational coupling mechanism 53, the driving of second driving mechanism 55
End connect with the mounting base 54 and drives its rotation；Specifically, second driving mechanism 55 be a hydraulic cylinder, described second
The telescopic end and the mounting base of the fixing end of driving mechanism 55 and hinged, described second driving mechanism 55 of the attachment base 533
54 is hinged, and the articulated shaft of the fixing end and the attachment base 533 that define second driving mechanism 55 is F axis, and described second drives
The telescopic end of motivation structure 55 and the articulated shaft of the mounting base 54 are G axis, and the E axis, F axis, G axis are mutually parallel and different
Axis, the E axis is perpendicular to the A axis；Preferably, second driving mechanism 55 is two, two second driving mechanisms
55 are symmetrically disposed on the two sides of the articulated position of the connector 33a and the mounting base 54, and two second driving machines
55 synchronous backward stretching motion of structure, so that the deflection of mounting base 54 is more steady.
First driving mechanism 52 is a hydraulic cylinder, and the fixing end of first driving mechanism 52 is connect with described first
The tail end of arm 51 is hinged, close to the second connecting rod on the telescopic end of first driving mechanism 52 and the first connecting rod 531
532 one end is hinged, defines the articulated shaft of the fixing end of first driving mechanism 52 and the tail end of first linking arm 51
For H axis, close to one end of the second connecting rod 532 on the telescopic end of first driving mechanism 52 and the first connecting rod 531
Articulated shaft be J axis, the A axis, B axle, C axis, D axis, H axis, J axis are mutually parallel and not coaxial.
The rotation motor 56 is installed in the mounting base 533, the drive shaft and the clamping of the rotation motor 56
Mechanism 57 connects and drives its rotation.
The clamp system 57 includes robot carriage 571, horizontal-clamping mechanism 572 and vertical clamp system 573, described
Horizontal-clamping mechanism 572 includes rotor plate 5721 and third driving mechanism 5722, and the rotor plate 5721 is two, described in two
The middle part of rotor plate 5721 is hinged with the middle part of the robot carriage 571, and two rotor plates 5721 are flexibly connected,
The articulated shaft of two rotor plates 5721 and the robot carriage 571 is defined as K axis；The third driving mechanism 5722
For hydraulic cylinder, the third driving mechanism 5722 is two, the fixing end of two third driving mechanisms 5722 respectively with institute
The both ends for stating robot carriage 571 are hinged, the telescopic end of two third driving mechanisms 5722 respectively with two rotations
One end of plate 5721 is hinged, and two third driving mechanisms 5722 synchronize stretching motion in the same direction, defines the third driving
The articulated shaft of the fixing end of mechanism 5722 and the robot carriage 571 is L axis, the telescopic end of the third driving mechanism 5722
Articulated shaft with the rotor plate 5721 is M axis, and the K axis, L axis, M axis are mutually parallel and not coaxial, the K axis, E axis, A
Axis is mutually perpendicular to；The drive shaft of the rotation motor 56 is fixedly connected with the middle part of the robot carriage 571 and drives its turn
It is dynamic；The vertical clamp system 573 is four, and four vertical one-to-one correspondence of clamp system 573 are installed on a rotation
One end of plate 5721, each vertical clamp system 573 include one the 4th driving mechanism 5731 and a clamping block 5732, institute
Stating the 4th driving mechanism 5731 is a hydraulic cylinder, the fixing end of the 4th driving mechanism 5731 and the one of the rotor plate 5721
End is fixedly connected, and the telescopic direction of the telescopic end of the 4th driving mechanism 5731 and the drive shaft of the rotation motor 56
Axis is in the same direction；The clamping block 5732 is fixed on the telescopic end of the 4th driving mechanism 5731, and the clamping block 5732 is opposite
The rotor plate 5721 is provided with the first clamping face 5732a on one side.
Specifically, the robot carriage 571 includes the first mounting plate 5711, the second mounting plate 5712 and connecting column
5713, first mounting plate 5711 is fixedly connected with the shaft of the rotation motor 56, and second mounting plate 5712 is opposite
First mounting plate 5711 is arranged away from the one side of the rotation motor 56；The connecting column 5713 is two, described in two
The both ends for being respectively arranged at first mounting plate 5711 and second mounting plate 5712 of connecting column 5713, the connecting column
5713 both ends are fixedly connected with first mounting plate 5711, second mounting plate 5712 respectively；Second mounting plate
5712 relatively described first end faces for clamping face 5732a are second to clamp face 5712a, and described first clamps face 5732a, described
Second, which clamps face 5712a, clamps H profile steel column for longitudinal；Two rotor plates 5721 are articulated with first mounting plate
5711, between second mounting plate 5712；The fixing end of two third driving mechanisms 5722 respectively with two companies
It is hinged to connect column 5713.
In the present embodiment, the mechanical arm 4 includes rotating block 41, the second linking arm 42, the driving of third linking arm the 43, the 5th
Mechanism 44, the 6th driving mechanism 45, the 7th driving mechanism 46 and the 8th driving mechanism 47, the 5th driving mechanism the 44, the 6th
Driving mechanism 45, the 7th driving mechanism 46 and the 8th driving mechanism 47 are hydraulic cylinder；The side of the rotating block 41 with it is described
The side for turning round job platform 3 is hinged, and its articulated shaft is perpendicular to the upper surface of first carrying plate 11；Described 5th drives
The telescopic end and the rotation of the fixing end of motivation structure 44 and revolution hinged, described 5th driving mechanism 44 of job platform 3
Block 41 is hinged, for driving the rotating block 41 to rotate, defines the 5th driving mechanism 44 and the revolution job platform 3
Articulated shaft is that the articulated shaft of N axis, the 5th driving mechanism 44 and the rotating block 41 is defined as P axis；Second linking arm
42 tail end and the rotating block 41 are hinged, and defining its articulated shaft is Q axis；The fixing end of 6th driving mechanism 45 with it is described
The telescopic end of hinged, described 6th driving mechanism 45 of rotating block 41 and second linking arm 42 are hinged, for driving described the
The rotation of two linking arms 42, the articulated shaft for defining the 6th driving mechanism 45 and the rotating block 41 is R axis, the 6th driving
The articulated shaft of mechanism 45 and second linking arm 42 is S axis；The tail end of the third linking arm 43 and second linking arm
42 head end is hinged, and defining its articulated shaft is T axis；The fixing end of 7th driving mechanism 46 and second linking arm 42 are cut with scissors
Connect, the telescopic end of the 7th driving mechanism 46 and the third linking arm 43 it is hinged, for driving the third linking arm 43
Rotation, the articulated shaft for defining the 7th driving mechanism 46 and second linking arm 42 is U axis, the 7th driving mechanism 46
Articulated shaft with the third linking arm 43 is V axis；The head of the tail end of first linking arm 51 and the third linking arm 43
End is hinged, and defining its articulated shaft is W axis；The fixing end of 8th driving mechanism 47 and the hinged, institute of the third linking arm 43
Telescopic end and first linking arm 51 for stating the 8th driving mechanism 47 are hinged, for driving first linking arm 51 to rotate,
The articulated shaft for defining the 8th driving mechanism 47 and the third linking arm 43 is X-axis, the 8th driving mechanism 47 and institute
The articulated shaft for stating the first linking arm 51 is Y-axis；Wherein, the articulated shaft of second linking arm 42 and the rotating block 41, described
The hinge of the articulated shaft of third linking arm 43 and second linking arm 42, the first connecting rod 531 and first linking arm 51
Spindle is mutually parallel, and each parallel to the upper surface of first carrying plate 11, the N axis, P axis, Q axis, R axis, S axis, T
Axis, U axis, V axis, W axis, X-axis, Y-axis, Z axis, A axis are mutually parallel；In the present embodiment, first linking arm 51, second connects
It connects arm 42 and three joint arms operating mode is collectively formed in third linking arm 43, job area is bigger.
Working principle: the first step, the tractor draw first flatcar 1 and second flatcar 2 along railroad track
To needing operating position；Second step, the revolution job platform 3 rotate, so that the mechanical arm 4 drives the mechanical gripper 5 to transport
It moves to the top of the H profile steel column delivered on second flatcar 2；Third step, the mechanical arm 4 move downward, and put down the machine
Tool handgrip 5, so that described second clamps face 5712a contact H profile steel column, two 5721 horizontal clamping H profile steel columns of rotor plate；
4th step, the 4th driving mechanism 5731 are shunk, so that the first clamping face 5732a is moved upwards, so that longitudinal clamp H
Steel column, and lift H profile steel column；5th step, revolution job platform 3 rotates, so that the mechanical arm 4 drives the machinery
Handgrip 5 moves to the top of installation site, meanwhile, the deflection angle of the rotating block 41 is adjusted by the 5th driving mechanism 44
Degree, to further realize the accurate positioning of 4 angle of revolution of mechanical arm；6th step, first driving mechanism 52 are received
Contracting, meanwhile, the rotation motor 56 rotates, so that H profile steel column is vertical；7th step, the erecting bed 15 are moved along the rail 14
It is dynamic, position is finally adjusted, is aligned the bottom surface mounting hole of H profile steel column with the pre-embedded anchoring bolts on ground；In the present embodiment, institute
It states and is connected with hydraulic motor on the second rail wheel 13, the hydraulic motor is for driving second rail wheel 13 to roll.
First driving mechanism 52 is for driving the rotational coupling mechanism 53 that the clamp system 57 is driven to be parallel to
The articulated shaft of the rotational coupling mechanism 53 rotates；Second driving mechanism 55 is for driving the mounting base 54 inclined by a small margin
Turn, so as to adjust the deflection angle of relatively described 51 two sides of mechanical arm of the clamp system 57；The rotation motor 56 is used for band
It moves the clamp system 57 and is axially rotated along it；The drive shaft of the rotation motor 57, the rotational coupling mechanism 53 with it is described
The articulated shaft of mechanical arm 4, the rotational coupling mechanism 53 and the articulated shaft of the mounting base 54 are mutually vertical, to can realize
The rotation of three dimensions grabs H profile steel column convenient for the clamp system 57, reduces worker's auxiliary operation, and machinery replaces
Manually, the safety of work is improved.
Specific embodiment of the present utility model described above does not constitute the restriction to scope of protection of the utility model.
Any other various changes and modifications that any technical concept according to the present utility model is made should be included in practical
In novel scope of protection of the claims.
Claims (7)
1. a kind of manipulator upright bar flatcar, comprising: the first flatcar, revolution job platform, mechanical arm and mechanical gripper, described first
Flatcar includes the first carrying plate, the first rail wheel, the second rail wheel, rail and erecting bed, and first rail wheel is installed on institute
It states the bottom of the first carrying plate and is rolled with railroad track and connected；The rail is arranged along the length direction of first carrying plate
And it is fixedly connected with its upper surface；The erecting bed is set to the top of the rail；Second rail wheel is installed on described
The bottom of erecting bed simultaneously rolls connection with the rail；The revolution job platform is installed on the upper surface of the erecting bed；Institute
State that one end of mechanical arm is connected with the side of the revolution job platform, the other end of the mechanical arm is equipped with the machinery
Handgrip；The mechanical gripper includes the first linking arm, the first driving mechanism, rotational coupling mechanism, mounting base, the second driving machine
Structure, rotation motor and clamp system, first linking arm are installed on the mechanical arm；One end of the rotational coupling mechanism
It is hinged with the other end of hinged, the described rotational coupling mechanism of head end of first linking arm and the mounting base；Described first
Driving mechanism is installed on first linking arm, and the driving end of first driving mechanism is connect with the rotational coupling mechanism
And drive its rotation；Second driving mechanism is installed on the rotational coupling mechanism, the driving of second driving mechanism
End connect with the mounting base and drives its rotation；The rotation motor is installed in the mounting base, the rotation motor
Drive shaft connect with the clamp system and drives its rotation；
Wherein, the articulated shaft of the drive shaft of the rotation motor, the rotational coupling mechanism and first linking arm, described turn
Dynamic bindiny mechanism and the articulated shaft of the mounting base are mutually vertical.
2. manipulator upright bar flatcar according to claim 1, which is characterized in that the rotational coupling mechanism includes the first company
Bar, second connecting rod and attachment base, the first connecting rod and the equal one end of the attachment base and first linking arm it is hinged, described the
The other end of one connecting rod and the attachment base is hinged with the both ends of the second connecting rod respectively；It is provided in the middle part of the attachment base
One connector, the connector and the mounting base are hinged；Second driving mechanism is a hydraulic cylinder, second driving machine
The fixing end of structure and the telescopic end of hinged, described second driving mechanism of the attachment base and the mounting base are hinged；Described first
Driving mechanism is a hydraulic cylinder, and the fixing end of first driving mechanism and the tail end of first linking arm are hinged, described the
The telescopic end of one driving mechanism and one end on the first connecting rod close to the second connecting rod are hinged.
3. manipulator upright bar flatcar according to claim 2, which is characterized in that second driving mechanism be two, two
A second driving mechanism is symmetrically disposed on the two sides of the articulated position of the connector and the mounting base, and described in two
Second driving mechanism synchronous backward stretching motion.
4. manipulator upright bar flatcar according to claim 1, which is characterized in that the clamp system includes manipulator branch
Seat, horizontal-clamping mechanism and vertical clamp system, the horizontal-clamping mechanism include rotor plate and third driving mechanism, and described turn
Movable plate is two, and the middle part of two rotor plates is hinged with the middle part of the robot carriage, and two rotor plates
It is flexibly connected；The third driving mechanism is hydraulic cylinder, and the third driving mechanism is two, two third driving mechanisms
Fixing end is hinged with the both ends of the robot carriage respectively, telescopic end of two third driving mechanisms respectively with two
One end of the rotor plate is hinged, and two third driving mechanisms synchronize stretching motion in the same direction；The drive of the rotation motor
It is fixedly connected in the middle part of moving axis and the robot carriage and drives its rotation；The vertical clamp system is four, four institutes
It states vertical clamp system and corresponds the one end for being installed on a rotor plate, each vertical clamp system includes one the
Four driving mechanisms and a clamping block, the 4th driving mechanism are a hydraulic cylinder, the fixing end of the 4th driving mechanism and institute
The one end for stating rotor plate is fixedly connected, and the drive of the telescopic direction of the telescopic end of the 4th driving mechanism and the rotation motor
The axis of moving axis is in the same direction；The clamping block is fixed on the telescopic end of the 4th driving mechanism, and the clamping block is relatively described to be turned
Movable plate is provided with the first clamping face on one side.
5. manipulator upright bar flatcar according to claim 4, which is characterized in that the robot carriage includes the first installation
Plate, the second mounting plate and connecting column, first mounting plate are fixedly connected with the shaft of the rotation motor, second installation
Relatively described first mounting plate of plate is arranged away from the one side of the rotation motor；The connecting column is two, two connections
The both ends for being respectively arranged at first mounting plate and second mounting plate of column, the both ends of the connecting column respectively with it is described
First mounting plate, second mounting plate are fixedly connected；One end face in second mounting plate, first clamping face relatively is
Second clamps face；Two rotor plates are articulated between first mounting plate, second mounting plate；Two described
The fixing end of three driving mechanisms is column articulated with two connections respectively.
6. manipulator upright bar flatcar according to claim 2, which is characterized in that the mechanical arm includes rotating block, second
Linking arm, third linking arm, the 5th driving mechanism, the 6th driving mechanism, the 7th driving mechanism and the 8th driving mechanism, described
Five driving mechanisms, the 6th driving mechanism, the 7th driving mechanism and the 8th driving mechanism are hydraulic cylinder；The side of the rotating block
It is hinged with the side of the revolution job platform, and its articulated shaft is perpendicular to the upper surface of first carrying plate；Described 5th
The telescopic end and the rotating block of the fixing end of driving mechanism and revolution hinged, described 5th driving mechanism of job platform are cut with scissors
It connects, for driving the rotating block to rotate；The tail end and the rotating block of second linking arm are hinged；6th driving machine
The fixing end of structure and the telescopic end of hinged, described 6th driving mechanism of the rotating block and second linking arm are hinged, are used for
Second linking arm is driven to rotate；The tail end of the third linking arm and the head end of second linking arm are hinged；Described
The fixing end of seven driving mechanisms is connect with the telescopic end of hinged, described 7th driving mechanism of second linking arm with the third
Arm is hinged, for driving the third linking arm to rotate；The head end of the tail end of first linking arm and the third linking arm
Hingedly；The telescopic end of the fixing end of 8th driving mechanism and hinged, described 8th driving mechanism of the third linking arm with
First linking arm is hinged, for driving first linking arm to rotate；Wherein, second linking arm and the rotating block
Articulated shaft, the third linking arm and second linking arm articulated shaft, the first connecting rod and first linking arm
Articulated shaft it is mutually parallel, and each parallel to the upper surface of first carrying plate.
7. manipulator upright bar flatcar according to claim 1, which is characterized in that the manipulator upright bar flatcar further includes
Second flatcar and tractor, one end of first flatcar is connected with second flatcar, the other end of first flatcar
It is connected with the tractor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821505022.3U CN209410059U (en) | 2018-09-14 | 2018-09-14 | A kind of manipulator upright bar flatcar |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821505022.3U CN209410059U (en) | 2018-09-14 | 2018-09-14 | A kind of manipulator upright bar flatcar |
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| Publication Number | Publication Date |
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| CN209410059U true CN209410059U (en) | 2019-09-20 |
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| CN201821505022.3U Active CN209410059U (en) | 2018-09-14 | 2018-09-14 | A kind of manipulator upright bar flatcar |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111976547A (en) * | 2020-07-10 | 2020-11-24 | 中铁第四勘察设计院集团有限公司 | Contact net strut assembly intelligent arm operation vehicle set and operation method |
-
2018
- 2018-09-14 CN CN201821505022.3U patent/CN209410059U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111976547A (en) * | 2020-07-10 | 2020-11-24 | 中铁第四勘察设计院集团有限公司 | Contact net strut assembly intelligent arm operation vehicle set and operation method |
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