CN210001226U - Rope-driven intelligent parallel robot for leveling warehouse - Google Patents
Rope-driven intelligent parallel robot for leveling warehouse Download PDFInfo
- Publication number
- CN210001226U CN210001226U CN201920847667.3U CN201920847667U CN210001226U CN 210001226 U CN210001226 U CN 210001226U CN 201920847667 U CN201920847667 U CN 201920847667U CN 210001226 U CN210001226 U CN 210001226U
- Authority
- CN
- China
- Prior art keywords
- central
- groups
- rope
- ropes
- parallel robot
- 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.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of rope drive intelligence parallel robot that puts in flat storehouse, including the base, multiunit support column, hoist engine, rope, fixed pulley assembly, central workstation, central carousel directly drives linear electric motor, the flat storehouse instrument, laser scanner, host computer multiunit fixed pulley assembly includes support, pivot, fixed pulley, code wheel, revolving stage the utility model discloses rope drive intelligence parallel robot that puts in flat storehouse accomplishes the flat storehouse operation by oneself, improves the utilization ratio of granary, reduces the loaded down with trivial details operation of artifical flat storehouse, alleviates artifical intensity of labour, reduces flat storehouse economic cost.
Description
Technical Field
The utility model relates to a parallel robot technical field, concretely relates to kind rope drive intelligence parallel robot that puts in flat storehouse.
Background
However, the mechanical grain feeding mode of the center fixed point of the cylindrical bin and the moving point of the barrel bin can form single or a plurality of conical grain piles in the bin, the conical grain piles are extremely unfavorable for safe storage, the utilization rate of the grain bin is greatly reduced, so that the grain surface needs to be leveled after grain feeding is completed, the thickness of the grain layer after leveling is , ventilation, cooling and fumigation are facilitated, and the stability of grain storage is improved.
At present, the granary leveling work in China is basically carried out manually, the workload is large, the granary leveling is slow, the time is long, the operating environment is severe, the manual granary leveling cost is high, and the granary leveling quality is difficult to guarantee.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing kinds of rope drive intelligence parallel robot that puts in good order to solve prior art not enough.
The utility model adopts the following technical scheme:
rope-driven intelligent parallel robot for leveling warehouse, which comprises a base, a plurality of groups of supporting columns, a winch, ropes, a fixed pulley assembly, a central workbench, a central turntable, a direct-drive linear motor, a leveling tool, a laser scanner and an upper computer,
the fixed pulleys are fixed on the rotating shaft, the rotating shaft is arranged on the support, the coded disc is arranged at the end of the rotating shaft, the support is arranged on the rotating platform, and the support can rotate around the Z axis on the rotating platform;
a plurality of groups of supporting columns are uniformly distributed around the base, a plurality of groups of windlasses are arranged at the bottoms of the outer sides of the corresponding supporting columns, and a plurality of groups of fixed pulley assemblies are arranged at the top ends of the corresponding supporting columns through rotary tables;
a plurality of groups of ropes are connected in parallel on the central workbench, the ropes pass through corresponding fixed pulleys, and the tail ends of the ropes are connected with corresponding windlasses;
the laser scanner is arranged on the side of the bottom of the central workbench, the center of the bottom of the central workbench is connected with a central turntable, the bottom of the central turntable is connected with a direct-drive linear motor, and the motion output part of the direct-drive linear motor is connected with a leveling tool;
laser scanner, hoist engine, code wheel, central carousel, directly drive linear electric motor and host computer real-time communication and connect: the upper computer controls the laser scanner, the winch, the central turntable and the direct-drive linear motor to work, and the laser scanner, the code disc, the central turntable and the direct-drive linear motor transmit data to the upper computer in real time.
it also comprises multiple sets of auxiliary wheels on the corresponding support column, multiple sets of ropes connected in parallel on the central working table, the ropes passing through the corresponding auxiliary wheels and fixed pulleys in turn, and the tail ends of the ropes connected with the corresponding windlass.
, the leveling tools are groups of leveling tools, two groups of synchronous leveling tools or multiple groups of synchronous leveling tools.
, adjacent support posts are connected by connecting rods.
The utility model has the advantages that:
1. the utility model discloses rope drive intelligence bunkering parallel robot center workstation bottom center connection center carousel, center carousel bottom is connected and is directly driven linear electric motor, the bunkering instrument is connected to the motion output part that directly drives linear electric motor, center carousel can drive under its motor drive and directly drive linear electric motor and the bunkering instrument carries out 360 rotations, directly drive linear electric motor and can drive the bunkering instrument and make a round trip linear motion and carry out the bunkering action for the bunkering action is more smooth and easy, and the bunkering area is bigger.
2. The utility model discloses rope drive intelligence parallel robot that puts in storage establishes the granary three-dimensional slope curve graph through laser scanner for each part treats that the positional information in operation district can accurately transmit for the host computer, does benefit to the host computer and carries out global path planning and local path planning and correct.
3. The utility model discloses rope drive intelligence parallel robot in flat storehouse passes through 3 strands and above rope drive mode for parallel robot has sufficient space that can reach, and then accomplishes the operation in flat storehouse.
4. The utility model discloses the rope drives the parallel robot of intelligent flat storehouse multiunit rope and connects in parallel on the center work platform, the rope passes through corresponding auxiliary wheel, fixed pulley, the end is connected with corresponding hoist engine; the mode of connecting the rear end of the auxiliary wheel with the winch enables the rope passing through the fixed pulley to filter out horizontal component force and play a role in correcting the rope, the output torque on the winch is reduced under the same condition, and the effects of saving electricity and energy are achieved.
5. The utility model discloses the parallel robot of rope drive intelligence bunkering instrument is preferred the synchronous bunkering instrument of multiunit, can make bunkering efficiency promote greatly, and the bunkering effect is better.
6. The utility model discloses the parallel robot of flat storehouse of rope drive intelligence accomplishes the operation of leveling the storehouse by oneself, improves the utilization ratio of granary, reduces the loaded down with trivial details operation of artifical flat storehouse, alleviates artifical intensity of labour, reduces flat storehouse economic cost.
Drawings
Fig. 1 is the structure schematic diagram of the intelligent rope-driven parallel robot for the open warehouse.
Fig. 2 is the utility model discloses the top view of rope drive intelligence parallel robot that puts in the flat storehouse.
Fig. 3 is a side view of the intelligent parallel connection robot with rope driving.
Fig. 4 is the front view of the rope-driven intelligent parallel robot for leveling the warehouse.
Detailed Description
The present invention will be further explained by reference to the following examples and drawings , which are provided for the purpose of illustration only and are not intended to limit the scope of the invention.
rope-driven intelligent parallel robot for leveling warehouse, which comprises a base, a plurality of groups of supporting columns 12, a winch 6, a rope 1, an auxiliary wheel 5, a fixed pulley assembly, a central workbench 8, a central turntable 9, a direct-drive linear motor 10, a leveling tool 11, a laser scanner 7 and an upper computer,
the multiple groups of fixed pulley assemblies comprise a support, a rotating shaft, a fixed pulley 2, a code disc 3 and a rotary table 4, wherein the fixed pulley 2 is fixed on the rotating shaft, the rotating shaft is arranged on the support, the code disc 3 is arranged at the end of the rotating shaft , the support is arranged on the rotary table 4, and the support can rotate around a Z axis on the rotary table 4;
the leveling tool 11 is groups of leveling tools, two groups of synchronous leveling tools or a plurality of groups of synchronous leveling tools;
a plurality of groups of supporting columns 12 are uniformly distributed around the base, a plurality of groups of windlasses 6 are arranged at the bottom of the outer side of the corresponding supporting columns 12, and a plurality of groups of auxiliary wheels 5 are arranged on the corresponding supporting columns 12; a plurality of groups of fixed pulley assemblies are arranged at the top ends of the corresponding support columns 12 through the rotary table; in order to make each support column 12 more firm and stable, adjacent support columns 12 can be connected by a connecting rod;
a plurality of groups of ropes 1 are connected in parallel on a central workbench 8, and the ropes 1 pass through corresponding auxiliary wheels 5 and fixed pulleys 2, and the tail ends of the ropes are connected with corresponding windlasses 6;
the laser scanner 7 is arranged at the side of at the bottom of the central workbench 8, the center at the bottom of the central workbench 8 is connected with a central turntable 9, the bottom of the central turntable 9 is connected with a direct-drive linear motor 10, the motion output part of the direct-drive linear motor 10 is connected with a leveling tool 11, and the installation direction of the direct-drive linear motor 10 corresponds to that of the leveling tool 11;
laser scanner 7, hoist engine 6, code wheel 3, central carousel 9, directly drive linear electric motor 10 and host computer real-time communication and connect: the upper computer controls the laser scanner 7, the winch 6, the central turntable 9 and the direct-drive linear motor 10 to work, and the laser scanner 7, the code disc 3, the central turntable 9 and the direct-drive linear motor 10 transmit data to the upper computer in real time. The upper computer performs global path planning on the leveling operation according to the granary 13 three-dimensional gradient curve graph constructed by the laser scanner 7 in real time, and performs local path planning and correction according to the coded disc 3, the central turntable 9, the direct-drive linear motor 10 real-time signal and the granary 13 three-dimensional gradient curve graph constructed by the laser scanner 7 in real time.
The host computer carries out the specific method that global path planning, local path planning were rectified and can be realized according to prior art by technical personnel in the field, and not the utility model discloses a guard point, the event is no longer elaborated herein.
The working process of the rope-driven intelligent leveling parallel robot is as follows:
in the initial operation stage, the laser scanner 7 constructs a three-dimensional gradient curve graph of the granary 13, so that the position information of each part to-be-operated area can be accurately transmitted to the upper computer, and then the upper computer performs global path planning on the leveling operation. The upper computer controls a driver of the winch 6 to drive the winch 6 to work, the rope 1 is driven to move, and when the rope 1 moves to drive the fixed pulley 2 to rotate, the code disc 3 can generate an electric signal and then feed back to the upper computer after being converted into a digital signal. The upper computer controls the central turntable 9 and the direct-drive linear motor 10 to work, and the central turntable 9 feeds back the rotation angle data and the future linear motion data of the direct-drive linear motor 10 to the upper computer in real time. The laser scanner 7 constructs a three-dimensional slope curve graph of the granary 13 in real time and transmits the three-dimensional slope curve graph to the upper computer. The upper computer performs local path planning and correction according to real-time signals fed back by the coded disc 3, the central turntable 9 and the direct-drive linear motor 10 and a granary 13 three-dimensional slope curve graph constructed by the laser scanner 7 in real time; the upper computer transmits deviation signals to a driver of the winch 6, a motor of the central turntable 9 and a direct-drive linear motor 10, the winch 6, the central turntable 9 and the direct-drive linear motor 10 are driven to work, the central workbench 8 reaches a specified position, a circular leveling working area based on the position is obtained, leveling operation is carried out through a leveling tool in the process until the difference value of the valley peak and the valley bottom in a scanned three-dimensional slope curve diagram of the granary 13 reaches the preset threshold value.
Claims (4)
1, rope-driven intelligent parallel robot for leveling warehouse, which is characterized in that it comprises a base, a plurality of groups of supporting columns, a windlass, ropes, a fixed pulley component, a central workbench, a central turntable, a direct-drive linear motor, a leveling tool, a laser scanner, an upper computer,
the fixed pulleys are fixed on the rotating shaft, the rotating shaft is arranged on the support, the coded disc is arranged at the end of the rotating shaft, the support is arranged on the rotating platform, and the support can rotate around the Z axis on the rotating platform;
a plurality of groups of supporting columns are uniformly distributed around the base, a plurality of groups of windlasses are arranged at the bottoms of the outer sides of the corresponding supporting columns, and a plurality of groups of fixed pulley assemblies are arranged at the top ends of the corresponding supporting columns through rotary tables;
a plurality of groups of ropes are connected in parallel on the central workbench, the ropes pass through corresponding fixed pulleys, and the tail ends of the ropes are connected with corresponding windlasses;
the laser scanner is arranged on the side of the bottom of the central workbench, the center of the bottom of the central workbench is connected with a central turntable, the bottom of the central turntable is connected with a direct-drive linear motor, and the motion output part of the direct-drive linear motor is connected with a leveling tool;
laser scanner, hoist engine, code wheel, central carousel, directly drive linear electric motor and host computer real-time communication and connect: the upper computer controls the laser scanner, the winch, the central turntable and the direct-drive linear motor to work, and the laser scanner, the code disc, the central turntable and the direct-drive linear motor transmit data to the upper computer in real time.
2. The rope-driven intelligent leveling parallel robot as claimed in claim 1, further comprising a plurality of sets of auxiliary wheels, wherein the plurality of sets of auxiliary wheels are provided on corresponding support columns; a plurality of groups of ropes are connected in parallel on the central workbench, and the ropes sequentially pass through the corresponding auxiliary wheels and the fixed pulleys, and the tail ends of the ropes are connected with the corresponding windlass.
3. The rope-driven intelligent bunkering parallel robot according to claim 1 or 2, wherein the bunkering tools are groups of bunkering tools, two groups of synchronous bunkering tools or multiple groups of synchronous bunkering tools.
4. The rope-driven intelligent bunkering parallel robot of claim 1 or 2, wherein adjacent support columns are connected by a connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920847667.3U CN210001226U (en) | 2019-06-06 | 2019-06-06 | Rope-driven intelligent parallel robot for leveling warehouse |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920847667.3U CN210001226U (en) | 2019-06-06 | 2019-06-06 | Rope-driven intelligent parallel robot for leveling warehouse |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210001226U true CN210001226U (en) | 2020-01-31 |
Family
ID=69309183
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920847667.3U Active CN210001226U (en) | 2019-06-06 | 2019-06-06 | Rope-driven intelligent parallel robot for leveling warehouse |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210001226U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110155758A (en) * | 2019-06-06 | 2019-08-23 | 中国计量大学 | The intelligent parallel robot of closing a position of rope driving |
| CN111425733A (en) * | 2020-03-31 | 2020-07-17 | 合肥工业大学 | Unmanned agricultural robot driven by parallel flexible cables and control method thereof |
-
2019
- 2019-06-06 CN CN201920847667.3U patent/CN210001226U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110155758A (en) * | 2019-06-06 | 2019-08-23 | 中国计量大学 | The intelligent parallel robot of closing a position of rope driving |
| CN110155758B (en) * | 2019-06-06 | 2024-03-08 | 中国计量大学 | Rope-driven intelligent parallel robot for flat bins |
| CN111425733A (en) * | 2020-03-31 | 2020-07-17 | 合肥工业大学 | Unmanned agricultural robot driven by parallel flexible cables and control method thereof |
| CN111425733B (en) * | 2020-03-31 | 2021-08-24 | 合肥工业大学 | Unmanned agricultural robot driven by parallel flexible cables and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110155758B (en) | Rope-driven intelligent parallel robot for flat bins | |
| CN210001226U (en) | Rope-driven intelligent parallel robot for leveling warehouse | |
| CN106953036B (en) | Automatic glue injection device for outer sealing ring of power battery cover cap | |
| CN201832579U (en) | Liftable stirring machine | |
| CN205074904U (en) | Solid of revolution polishing production line | |
| CN104175162A (en) | Mechanical arm used for automatic feeding and discharging and automatic feeding and discharging method | |
| CN203706905U (en) | Groove pressing device of super capacitor housing | |
| CN206153768U (en) | Brilliant silicon solar cell laser is half machine surely | |
| CN204499661U (en) | Sole automatic glue-spraying equipment | |
| CN206295920U (en) | A kind of organic fertilizer granulating disc | |
| CN218114176U (en) | Sapling storage and transportation platform | |
| CN208103036U (en) | A kind of automated warehousing logistics shelf | |
| CN207139609U (en) | Copper rod clamping device | |
| CN206519779U (en) | A kind of student's numerical tool operation automatic loading and unloading manipulator arm | |
| CN215095672U (en) | Scanning modeling device for 3D printing | |
| CN205704517U (en) | A kind of construction planing means | |
| CN201990320U (en) | Wire rope winding machine | |
| CN211365958U (en) | Rotating disc type feeding device for blocky objects | |
| CN109531091B (en) | Component bundling device | |
| CN209728298U (en) | A kind of regulating device of laser scanning device | |
| CN209635797U (en) | Novel large reactor rotates die device | |
| CN207774163U (en) | A kind of facilitation movable type trolley | |
| CN206697735U (en) | Prosthetic device on a kind of wind power generating set double-fed asynchronous generator collector ring tower | |
| CN206493311U (en) | Aerial work puma manipulator | |
| CN211733036U (en) | Go up trigger |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |