CN216067514U - Multifunctional rope traction parallel mechanism end effector - Google Patents
Multifunctional rope traction parallel mechanism end effector Download PDFInfo
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- CN216067514U CN216067514U CN202122464281.4U CN202122464281U CN216067514U CN 216067514 U CN216067514 U CN 216067514U CN 202122464281 U CN202122464281 U CN 202122464281U CN 216067514 U CN216067514 U CN 216067514U
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- rotating shafts
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- crank
- parallel mechanism
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Abstract
The utility model discloses a multifunctional rope traction parallel mechanism end effector, which comprises: a main body, an upper layer structure and a lower layer structure; the upper layer structure comprises two rotating shafts, four forks, a crank rocker mechanism, a crank slider mechanism and a linear motor; the two rotating shafts are respectively arranged on two sides of the main body; two ends of the two rotating shafts are connected with the pallet forks, and the pallet forks rotate along with the rotating shafts; the forks on the two sides of the main body are connected through a crank rocker mechanism; a linear motor is arranged between the two rotating shafts and connected with one of the rotating shafts through a crank-slider mechanism. The lower layer structure is provided with a plurality of mounting joints and an adjustable mounting rack; the hanging joint is used for connecting a rope lifting hook; a groove is formed in the adjustable mounting frame. The rope traction parallel mechanism has three functions of grabbing, mounting and fastening, can select a connection form according to the load condition, has strong universality, and can be widely used for indoor and outdoor operation of the rope traction parallel mechanism.
Description
Technical Field
The utility model relates to the technical field of agricultural machinery, in particular to an end effector of a multifunctional rope traction parallel mechanism.
Background
The rope traction parallel mechanism is a novel parallel mechanism which uses a rope to replace a traditional support rod, generally comprises a base (or a frame), an end effector (also called a movable platform), the rope, a driver, a hinge and the like which connect the rope with the base or the movable platform, and converts the motion and force of the driver into the motion and force of the movable platform and a load by using the rope as a medium. The rope traction parallel mechanism has the characteristics of the traditional parallel mechanism, and also has the unique advantages of large working space, small self weight and the like.
The traditional hoisting operation mainly adopts a single rope to hoist, can only control the displacement of a load, can not control the posture of the load, and the single rope swings easily in the hoisting process, so that the hoisting operation is influenced to be smoothly carried out, and even potential safety hazards are brought. If the rope traction parallel mechanism is used for hoisting operation, due to the combined action of a plurality of ropes, the swinging can be inhibited, the position and the posture of the load can be controlled simultaneously, and the rope traction parallel mechanism has wide application prospect in the aspects of large-scale structural member assembly, maritime supply, ruin search and rescue and the like. Because the load posture is controlled, the end effector of the rope traction parallel mechanism cannot adopt a hook form, but can be conveniently connected and fixed with the load, and can realize actions of pitching, rolling, pitching and the like of the load. In the past application case, a plurality of end effectors are specially designed according to loads, and the end effectors have single functions and poor universality.
SUMMERY OF THE UTILITY MODEL
In order to solve the problems in the prior art, the embodiment of the utility model provides a multifunctional rope traction parallel mechanism end effector. The technical scheme is as follows:
in one aspect, a multifunctional rope-pulling parallel mechanism end effector is provided, comprising: a main body, an upper layer structure and a lower layer structure; the upper layer of the main body is provided with the upper layer structure, and the lower layer of the main body is provided with the lower layer structure;
the upper layer structure comprises two rotating shafts, four forks, a crank rocker mechanism, a crank slider mechanism and a linear motor; the two rotating shafts are respectively arranged on two sides of the main body; the two ends of the two rotating shafts are connected with the pallet forks, and the pallet forks rotate along with the rotating shafts; the forks on the two sides of the main body are connected through the crank rocker mechanism; a linear motor is arranged between the two rotating shafts, and the linear motor is connected with one of the rotating shafts through the crank-slider mechanism; the linear motor drives the rotating shaft to rotate through the crank-slider mechanism;
the lower layer structure is provided with a plurality of mounting joints and an adjustable mounting rack; the hanging joint is used for connecting a rope lifting hook; a groove is formed in the adjustable mounting rack.
Optionally, the rotation shafts on both sides of the main body are connected by a connecting rod.
Optionally, the groove is disposed in the middle of the lower layer structure and arranged in a radial shape.
Optionally, the lower layer structure is provided with four grooves.
The technical scheme provided by the embodiment of the utility model has the following beneficial effects:
the multifunctional rope traction parallel mechanism end effector provided by the utility model has three functions of grabbing, mounting and fastening, can select a connection form according to the load condition, has strong universality, and can be widely applied to indoor and outdoor operation of the rope traction parallel mechanism.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of a superstructure of an embodiment of the present invention;
fig. 2 is a schematic view of an underlying structure of an embodiment of the utility model.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
The utility model provides a multifunctional rope traction parallel mechanism end effector, which comprises: a main body, an upper layer structure and a lower layer structure; the upper layer of the main body is provided with the upper layer structure, and the lower layer of the main body is provided with the lower layer structure;
the upper layer structure comprises two rotating shafts, four forks, a crank rocker mechanism, a crank slider mechanism and a linear motor; the two rotating shafts are respectively arranged on two sides of the main body; the two ends of the two rotating shafts are connected with the pallet forks, and the pallet forks rotate along with the rotating shafts; the forks on the two sides of the main body are connected through the crank rocker mechanism; a linear motor is arranged between the two rotating shafts, and the linear motor is connected with one of the rotating shafts through the crank-slider mechanism; the linear motor drives the rotating shaft to rotate through the crank-slider mechanism.
The lower layer structure is provided with a plurality of mounting joints and an adjustable mounting rack; the hanging joint is used for connecting a rope lifting hook; a groove is formed in the adjustable mounting rack.
Optionally, the rotation shafts on both sides of the main body are connected by a connecting rod.
Optionally, the groove is disposed in the middle of the lower layer structure and arranged in a radial shape.
Optionally, the lower layer structure is provided with four grooves.
In this embodiment, as shown in fig. 1, the upper layer structure includes two rotating shafts 1 respectively installed on two sides of the movable platform; the four forks 2 can rotate along with the rotating shaft, can be folded and unfolded, and grab a tray for mounting goods; the crank rocker mechanism 3 is used for realizing the linkage of the forks 2 on the two sides; the linear motor 5 drives the rotating shaft 1 to rotate through the crank-slider mechanism 4, and the grabbing function is completed. As shown in fig. 2, a plurality of mounting joints 6 are uniformly arranged around the lower-layer structure, and functions of equipment carrying, wounded transfer, fragment movement and the like can be realized through rope hook mounting equipment, rescue stretchers, building fragments and the like; the middle of the adjustable installation frame 7 is provided with four radial grooves for installing equipment with different sizes, such as a life detector, a cable reel and the like, so that the functions of personnel search, equipment power supply and the like are realized.
The technical scheme provided by the embodiment of the utility model has the following beneficial effects:
the multifunctional rope traction parallel mechanism end effector provided by the utility model has three functions of grabbing, mounting and fastening, can select a connection form according to the load condition, has strong universality, and can be widely applied to indoor and outdoor operation of the rope traction parallel mechanism.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent replacements, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. The utility model provides a multi-functional rope pulls parallel mechanism end effector which characterized in that includes: a main body, an upper layer structure and a lower layer structure; the upper layer of the main body is provided with the upper layer structure, and the lower layer of the main body is provided with the lower layer structure;
the upper layer structure comprises two rotating shafts, four forks, a crank rocker mechanism, a crank slider mechanism and a linear motor; the two rotating shafts are respectively arranged on two sides of the main body; the two ends of the two rotating shafts are connected with the pallet forks, and the pallet forks rotate along with the rotating shafts; the forks on the two sides of the main body are connected through the crank rocker mechanism; a linear motor is arranged between the two rotating shafts, and the linear motor is connected with one of the rotating shafts through the crank-slider mechanism; the linear motor drives the rotating shaft to rotate through the crank-slider mechanism;
the lower layer structure is provided with a plurality of mounting joints and an adjustable mounting rack; the hanging joint is used for connecting a rope lifting hook; a groove is formed in the adjustable mounting rack.
2. The multifunctional rope pulling parallel mechanism end effector as claimed in claim 1, wherein the rotation shafts on both sides of the main body are connected by a connection bar.
3. The multifunctional rope pulling parallel mechanism end effector as claimed in claim 1, wherein the grooves are disposed in the middle of the understructure in a radial arrangement.
4. The multifunctional rope pulling parallel mechanism end effector as claimed in claim 1, wherein the understructure is provided with four grooves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122464281.4U CN216067514U (en) | 2021-10-13 | 2021-10-13 | Multifunctional rope traction parallel mechanism end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122464281.4U CN216067514U (en) | 2021-10-13 | 2021-10-13 | Multifunctional rope traction parallel mechanism end effector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216067514U true CN216067514U (en) | 2022-03-18 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122464281.4U Active CN216067514U (en) | 2021-10-13 | 2021-10-13 | Multifunctional rope traction parallel mechanism end effector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216067514U (en) |
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2021
- 2021-10-13 CN CN202122464281.4U patent/CN216067514U/en active Active
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