CN219970315U - Multi-degree-of-freedom tray and hanging device - Google Patents
Multi-degree-of-freedom tray and hanging device Download PDFInfo
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- CN219970315U CN219970315U CN202320700423.9U CN202320700423U CN219970315U CN 219970315 U CN219970315 U CN 219970315U CN 202320700423 U CN202320700423 U CN 202320700423U CN 219970315 U CN219970315 U CN 219970315U
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- 230000007246 mechanism Effects 0.000 claims abstract description 40
- 239000000346 nonvolatile oil Substances 0.000 claims abstract description 16
- 239000003921 oil Substances 0.000 claims abstract description 16
- 238000005096 rolling process Methods 0.000 claims description 48
- 230000005540 biological transmission Effects 0.000 claims description 11
- 239000003981 vehicle Substances 0.000 claims description 8
- 238000007789 sealing Methods 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 24
- 239000010720 hydraulic oil Substances 0.000 description 4
- 230000002457 bidirectional effect Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009349 indirect transmission Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Abstract
The utility model relates to the technical field of hanging object hanging equipment, in particular to a multi-degree-of-freedom tray and hanging object hanging equipment. The multi-degree-of-freedom tray comprises a supporting platform, a bearing tray and an attitude adjusting mechanism; the supporting platform is rotatably arranged on the base; the gesture adjusting mechanism is connected between the supporting platform and the bearing plate; the bearing disc is used for bearing the object to be hung; the gesture adjusting mechanism comprises a hydraulic valve block and a plurality of hydraulic actuators, the hydraulic valve block comprises a fixed block provided with a fixed oil way and a rotating block provided with a rotating oil way, the rotating block is fixedly connected to a supporting platform, the rotating block is in running fit with the fixed block, the fixed oil way is communicated with the rotating oil way in a sealing manner, the rotating oil way is communicated with the hydraulic actuators, and the fixed oil way is used for being connected with a hydraulic system. The hanging object hanging device comprises the multi-degree-of-freedom object tray. The multi-degree-of-freedom object tray and the hanging object hanging equipment provided by the utility model enlarge the azimuth adjusting range of the hung object and can better meet the object hanging requirement.
Description
Technical Field
The utility model relates to the technical field of hanging object hanging equipment, in particular to a multi-degree-of-freedom tray and hanging object hanging equipment.
Background
The hanging object hanging equipment is provided with a mechanical arm and a tray, wherein the tray can be connected to the end part of the mechanical arm and used for bearing an object to be hung, the object can be carried by moving the hanging vehicle, and the position and the posture of the object can be greatly adjusted by operating the mechanical arm, and the tray is required to be fixed and bear the object and is used for carrying out small-amplitude adjustment on the position and the posture of the object so as to hang the object to a target position. However, the existing trays have a limited adjustment range, and it is difficult to satisfy the object hanging requirements.
In summary, how to overcome the above-mentioned drawbacks of the trays of the existing hanging devices is a technical problem to be solved by those skilled in the art.
Disclosure of Invention
The utility model aims to provide a multi-degree-of-freedom object tray and a hanging object hanging device, so as to solve the technical problem that the adjustment range of the object tray of the hanging object hanging device in the prior art is limited.
The utility model provides a multi-degree-of-freedom object tray which is characterized by comprising a base, a supporting platform, a bearing plate and an attitude adjusting mechanism.
The supporting platform is rotatably arranged on the base; the gesture adjusting mechanism is connected between the supporting platform and the bearing disc and is used for adjusting the gesture of the bearing disc relative to the supporting platform; the bearing plate is used for bearing the object to be hung.
The gesture adjusting mechanism comprises a hydraulic valve block and a plurality of hydraulic actuators, the hydraulic valve block comprises a fixed block provided with a fixed oil way and a rotating block provided with a rotating oil way, the fixed block is fixedly arranged relative to the base, the rotating block is fixedly connected to the supporting platform, the rotating block is in running fit with the fixed block, the fixed oil way is communicated with the rotating oil way in a mutually sealed mode, the rotating oil way is communicated with the hydraulic actuators, and the fixed oil way is used for being connected with a hydraulic system.
Preferably, as an implementation manner, the multi-degree-of-freedom tray further comprises a rotation driving mechanism, wherein the rotation driving mechanism comprises a rotation power source, a worm and a central gear, and the central gear and the worm are in running fit with the base; the rotary power source is in transmission connection with the worm, the worm is matched with the central gear, and the supporting platform is fixedly connected with the central gear.
Preferably, as an implementation manner, the rotary power source comprises a rotary driver, and the rotary driver is in transmission connection with the worm; and/or the rotary power source comprises an operating rod, and the operating rod is in transmission connection with the worm.
Preferably, as an implementation manner, the slewing drive mechanism further comprises a first gear and a second gear, and the rotary driver and the operating rod are respectively arranged at two sides of the first gear and are coaxially fixed with the first gear; the first gear and the second gear are helical cylindrical gears and are meshed with each other, and the second gear and the worm are coaxially fixed.
Preferably, as an implementation manner, the gesture adjusting mechanism further comprises a pitching piece and a rolling piece, wherein the pitching piece is in running fit with the rotating block and can rotate around a pitching axis; the rolling piece is in running fit with the pitching piece and can rotate around a rolling axis; the bearing plate is fixedly connected to the rolling piece; the hydraulic actuator can drive the bearing coil to rotate around the pitching axis and the rolling axis respectively, and the pitching axis, the rolling axis and the rotation axis of the supporting platform are arranged in an included angle mode.
Preferably, as an implementation manner, the hydraulic actuator comprises a pitch hydraulic cylinder and a roll hydraulic cylinder, wherein a cylinder barrel of the pitch hydraulic cylinder and a cylinder barrel of the roll hydraulic cylinder are respectively and fixedly connected to the supporting platform, and a telescopic end of the pitch hydraulic cylinder and a telescopic end of the roll hydraulic cylinder are respectively connected with the bearing disc through a joint bearing; the telescopic end of the pitching hydraulic cylinder is collinear with the rolling axis, and the telescopic end of the rolling hydraulic cylinder is collinear with the pitching axis.
Preferably, as an implementation manner, the pitch hydraulic cylinders comprise two pitch hydraulic cylinders and are respectively arranged at two sides of the pitch axis;
and/or the rolling hydraulic cylinders comprise two rolling hydraulic cylinders and are respectively arranged at two sides of the rolling axis;
and/or the pitching axis, the rolling axis and the rotation axis of the supporting platform are respectively and pairwise vertically arranged.
Preferably, as an implementation manner, the multi-degree-of-freedom tray further comprises a transverse driving mechanism, a connecting piece and a frame, wherein the connecting piece is used for being fixedly connected with the end part of the mechanical arm, the base is mounted on the frame, the frame is in sliding fit with the connecting piece, and the transverse driving mechanism is connected between the connecting piece and the frame and used for driving the frame to move along a transverse axis.
Preferably, as an implementation manner, the multi-degree-of-freedom tray further comprises a longitudinal driving mechanism, the base is in sliding fit with the frame, the longitudinal driving mechanism is connected between the base and the frame and is used for driving the base to move along a longitudinal axis, and the longitudinal axis and the transverse axis are arranged at an included angle.
The utility model also provides hanging equipment for hanging objects, which comprises a hanging vehicle, a mechanical arm and the multi-degree-of-freedom object tray, wherein the mechanical arm is arranged on the hanging vehicle, and the multi-degree-of-freedom object tray is arranged at the tail end of the mechanical arm.
Compared with the prior art, the utility model has the beneficial effects that:
when the gesture of the object to be hung is required to be regulated, the hydraulic system can control the hydraulic actuator to act, so that the gesture of the hydraulic actuator on the bearing plate is regulated, and further, the gesture of the object to be hung on the bearing plate is regulated. When the direction of the object to be hung is required to be adjusted, the supporting platform can be controlled to do rotary motion relative to the base, so that the supporting platform drives the bearing plate to do rotary motion, the direction adjustment of the bearing plate is realized, and further, the direction adjustment of the object to be hung on the bearing plate is realized.
It should be noted that, when the support platform performs the rotation motion, the rotation blocks of the hydraulic actuator and the hydraulic valve block are driven to perform the rotation motion synchronously with the rotation blocks, that is, when the bearing disc performs the rotation motion, the rotation blocks of the hydraulic actuator and the hydraulic valve block can be kept relatively still all the time and do not perform the relative motion, so that the connection structure (generally, the hydraulic oil pipe) between the hydraulic actuator and the rotary oil path does not affect the rotation of the bearing disc; meanwhile, the rotating block of the hydraulic valve block is in running fit with the fixed block, and the rotating oil way on the rotating block can always keep a sealed communication state with the fixed oil way on the fixed block, so that the fixed block of the hydraulic valve block and the hydraulic system can always keep relative static and cannot generate relative motion on the basis of guaranteeing the control effectiveness of the hydraulic system on the hydraulic actuator in the process that the rotating block follows the rotation of the bearing plate, and therefore, a connecting structure (generally a hydraulic oil pipe) between the hydraulic system and the fixed oil way cannot influence the rotation of the bearing plate, and therefore, the bearing plate can rotate at any angle relative to the base, 360-degree rotation of a hung object can be realized, the azimuth adjusting range of the hung object is enlarged, and the hanging requirement of the object can be better met.
Drawings
In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present utility model, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic perspective view of a multi-degree-of-freedom tray according to an embodiment of the present utility model;
FIG. 2 is a schematic cross-sectional view of a multi-degree of freedom tray according to an embodiment of the present utility model;
fig. 3 is a schematic view of a part of a structure of a multi-degree-of-freedom tray according to an embodiment of the present utility model;
FIG. 4 is a top view of a portion of the structure of the multi-degree of freedom tray of FIG. 3 according to an embodiment of the utility model;
fig. 5 is a schematic structural diagram of another portion of a multi-degree of freedom tray according to an embodiment of the present utility model.
Reference numerals illustrate:
100-base;
200-supporting a platform;
300-carrying disc;
410-a hydraulic valve block; 411-fixed block; 412-rotating the block; 420-pitch; 430-a tumbling member; 440-pitch hydraulic cylinder; 450-rolling hydraulic cylinder; 460-knuckle bearing;
510-a worm; 520-sun gear; 530-a rotary drive; 531-coupling; 540-a lever; 550-a first gear; 560-a second gear;
600-a transverse driving mechanism;
700-connecting piece; 710-a sleeve; 720-fixing pins;
800-frame; 810-traversing the slide shaft;
900-longitudinal drive mechanism.
Detailed Description
The following description of the embodiments of the present utility model will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the utility model are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted", "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.
The utility model will now be described in further detail by way of specific examples of embodiments in connection with the accompanying drawings.
Referring to fig. 1-5, the present embodiment provides a multi-degree-of-freedom tray, which includes a base 100, a support platform 200, a carrying tray 300, and a posture adjustment mechanism; the support platform 200 is rotatably mounted on the base 100; the posture adjusting mechanism is connected between the supporting platform 200 and the bearing plate 300 and is used for adjusting the posture of the bearing plate 300 relative to the supporting platform 200; the carrying tray 300 is used for carrying articles to be hung; the gesture adjusting mechanism comprises a hydraulic valve block 410 and a plurality of hydraulic actuators, wherein the hydraulic valve block 410 comprises a fixed block 411 provided with a fixed oil way and a rotating block 412 provided with a rotating oil way, the fixed block 411 is fixedly arranged relative to the base 100, the rotating block 412 is fixedly connected to the supporting platform 200, the rotating block 412 is in running fit with the fixed block 411, the fixed oil way is communicated with the rotating oil way in a sealing way, the rotating oil way is communicated with the hydraulic actuators, and the fixed oil way is used for being connected with a hydraulic system.
When the posture of the object to be hung is required to be adjusted, the hydraulic system can control the hydraulic actuator to act, so that the hydraulic actuator can adjust the posture of the bearing plate 300, and further, the posture of the object to be hung on the bearing plate 300 can be adjusted. When the direction of the object to be hung needs to be adjusted, the supporting platform 200 can be controlled to perform a rotary motion relative to the base 100, so that the supporting platform 200 drives the carrying tray 300 to perform a rotary motion, thereby realizing the direction adjustment of the carrying tray 300, and further realizing the direction adjustment of the object to be hung on the carrying tray 300.
It should be noted that, when the supporting platform 200 performs the rotation motion, the rotating block 412 of the hydraulic actuator and the hydraulic valve block 410 is driven to perform the rotation motion synchronously with the same, that is, when the bearing disc 300 performs the rotation motion, the rotating block 412 of the hydraulic actuator and the hydraulic valve block 410 can be kept relatively still all the time, and no relative motion occurs, so that the connection structure (generally, a hydraulic oil pipe) between the hydraulic actuator and the rotating oil path does not affect the rotation of the bearing disc 300; meanwhile, the rotating block 412 of the hydraulic valve block 410 is in rotating fit with the fixed block 411, and the rotating oil path on the rotating block 412 can always keep a sealing communication state with the fixed oil path on the fixed block 411, so that the fixed block 411 and the hydraulic system of the hydraulic valve block 410 can always keep relative static without relative movement on the basis of ensuring the control effectiveness of the hydraulic system on the hydraulic actuator in the rotating process of the rotating block 412 following the bearing disc 300, and the connecting structure (generally hydraulic oil pipe) between the hydraulic system and the fixed oil path can not influence the rotation of the bearing disc 300, therefore, the bearing disc 300 can rotate at any angle relative to the base 100, 360-degree rotation of a hung object can be realized, the azimuth adjusting range of the hung object is enlarged, and the object hanging requirement can be better met.
Specifically, the rotating block 412 of the hydraulic valve block 410 may be fixed to the support platform 200 by a screw connection.
Referring to fig. 4 and 5, a rotation driving mechanism may be added, in which a rotation power source, a worm 410 and a central gear 420 may be provided, and the central gear 420 and the worm 410 are both rotatably engaged with the base 100, so that the central gear 420 and the worm 410 can be respectively rotated around their own axes; the rotary power source is in transmission connection with the worm 410 so as to drive the worm 410 to rotate by using the rotary power source, and the worm 410 is matched with the sun gear 420 so as to drive the sun gear 420 to do rotary motion by using the worm 410; the supporting platform 200 is fixedly connected with the central gear 420, so that when the central gear 420 rotates, the supporting platform 200 can be driven to do rotary motion, and the supporting platform 200 can drive the bearing plate 300 to do rotary motion synchronously with the bearing plate, so that the direction adjustment of the object to be hung can be realized. Wherein the support platform 200 is indirectly rotatably coupled to the base 100 via the sun gear 520.
As an embodiment, the rotary power source may include a rotary driver 530, and the rotary driver 530 is connected with the worm 510 in a transmission manner, so that the worm 510 is driven to rotate by the rotary driver 530, and human intervention is not required, so that human resources can be saved. Wherein the rotary drive 530 may be a hydraulic motor, an electric motor, or the like.
As another embodiment, the rotary power source may include an operating lever 540, and the operating lever 540 is connected with the worm 510 in a transmission manner, and the driving of the worm 510 may be achieved by manually rotating the operating lever 540.
Preferably, the above two modes are simultaneously provided, namely, the rotary power source comprises a rotary driver 530 and an operating rod, and when the rotary driver 530 fails and can not normally drive the worm 510 to rotate, the external operating rod 540 can be manually rotated to drive the worm 510 to rotate.
A first gear 550 and a second gear 560 may be provided in a specific structure of the swing driving mechanism, and the rotation driver 530 and the operation lever 540 are respectively coaxially fixed with the first gear 550, so that the rotation driver 530 and the operation lever 540 may drive the first gear 550 to rotate; meshing the first gear 550 with the second gear 560 such that rotation of the first gear 550 drives rotation of the second gear 560; the second gear 560 is coaxially fixed with the worm 510, so that the second gear 560 can drive the worm 510 to rotate synchronously, and thus, the indirect transmission connection of the rotary driver 530, the operating lever 540 and the worm 510 can be realized through the first gear 550 and the second gear 560. On the basis, the first gear 550 and the second gear 560 are both arranged as helical gear, so that the power transmission direction can be deflected through the first gear 550 and the second gear 560, namely, the rotary driver 530 and the operating rod 540 are not required to be coaxially arranged with the worm 510, the length of the rotary driving mechanism can be reduced, and the size and the weight of the multi-degree-of-freedom tray can be reduced; meanwhile, the rotation driver 530 and the operation lever 540 are respectively disposed at both sides of the first gear 550, so that the operation lever 540 is not blocked by the rotation driver 530 when rotated, thereby facilitating the operation. The central axis of the first gear 550 is preferably disposed perpendicular to the central axis of the second gear 560, facilitating layout. Specifically, the rotary driver 530 may be connected to a transmission shaft through a coupling 531, and the first gear 550 may be socket-fastened to the transmission shaft.
Referring to fig. 3-5, in the specific structure of the gesture adjusting mechanism, a pitching member 420 and a rolling member 430 may be provided, and the pitching member 420 is rotationally matched with the rotating member 412, so that the pitching member 420 can rotate around a pitching axis; the rolling member 430 is rotatably engaged with the pitching member 420 such that the rolling member 430 can rotate about a rolling axis; the carrier plate 300 is fixedly connected to the rolling member 430, so that the carrier plate 300 can rotate around the pitch axis and the rolling axis respectively. The hydraulic actuator can respectively drive the bearing disc 300 to rotate around the pitching axis and the rolling axis, so that the pitching posture and the rolling posture of the hung articles can be adjusted, the pitching axis, the rolling axis and the rotation axis of the supporting platform 200 are arranged in an included angle mode, and the hung articles on the bearing disc 300 can be smoothly adjusted to a proper hanging state. Specifically, the rolling member 430 and the carrier plate 300 may be fixedly connected by a screw connection.
Preferably, the pitch axis and the roll axis are perpendicular to the rotation axis of the supporting platform 200, so that the bearing plate 300 can be adjusted to a proper posture more smoothly, so as to facilitate the smooth hanging of the hung objects.
Specifically, the hydraulic actuator includes a pitch cylinder 440 and a roll cylinder 450, wherein a cylinder barrel of the pitch cylinder 440 and a cylinder barrel of the roll cylinder 450 are respectively and fixedly connected to the support platform 200, and a telescopic end of the pitch cylinder 440 and a telescopic end of the roll cylinder 450 are respectively connected with the carrier plate 300 through a joint bearing 460; the telescoping end of pitch cylinder 440 is disposed in line with the roll axis, and the telescoping end of roll cylinder 450 is disposed in line with the pitch axis. When the pitching posture of the object to be hung needs to be adjusted, the pitching hydraulic cylinder 440 can be controlled to act so as to drive the bearing plate 300 to rotate around the pitching axis by using the pitching hydraulic cylinder 440, and at the moment, the telescopic end of the rolling hydraulic cylinder 450 can be used as a supporting point for the bearing plate 300 to do pitching motion; when the rolling gesture of the object to be hung needs to be adjusted, the rolling hydraulic cylinder 450 can be controlled to act so as to drive the bearing plate 300 to rotate around the rolling axis by using the rolling hydraulic cylinder 450, at this time, the telescopic end of the pitching hydraulic cylinder 440 can be used as a supporting point for the bearing plate 300 to do rolling motion, that is, when the bearing plate 300 does pitching motion and rolling motion, the bearing plate 300 can be supported by the rolling member 430 and can be supported by the pitching hydraulic cylinder 440 and the rolling hydraulic cylinder 450 in the whole course, which is beneficial to increasing the stress area of the bearing plate 300 and reducing the local stress.
Preferably, two pitch cylinders 440 may be provided, and the two pitch cylinders 440 may be provided on both sides of the pitch axis, respectively, so that the stress area may be further increased, and the working pressure of the pitch cylinders 440 may be reduced.
The number of the rolling hydraulic cylinders 450 can be two, and the two rolling hydraulic cylinders 450 are respectively arranged at two sides of the rolling axis, so that the stress area can be further increased, and the working pressure of the rolling hydraulic cylinders 450 can be reduced.
Preferably, the pitch cylinder 440 and the roll cylinder 450 are uniformly distributed at a portion of the support platform 200 near the edge. Specifically, the support platform 200 may be provided in a square plate-like structure, and two pitch hydraulic cylinders 440 and two roll hydraulic cylinders 450 may be installed at four corners of the support platform 200, respectively.
Referring to fig. 1-4, a transverse driving mechanism 600, a connecting member 700 and a frame 800 may be added, the connecting member 700 is fixedly connected with the end of the mechanical arm, the base 100 is mounted on the frame 800, the frame 800 is slidably matched with the connecting member 700, the transverse driving mechanism 600 is connected between the connecting member 700 and the frame 800, so that the frame 800 is driven by the transverse driving mechanism 600 to move along a transverse axis, and thus, the frame 800 can drive the base 100 and all structures (including the carrying tray 300) mounted thereon to move along the transverse axis, thereby indirectly realizing the transverse driving of the carrying tray 300, and enabling the hanging articles on the carrying tray 300 to move along the transverse axis. Specifically, a traversing slide shaft 810 may be disposed on the frame 800, a sleeve 710 is disposed on the connector 700, and the traversing slide shaft 810 is in sleeve-joint sliding fit with the sleeve 710, wherein the axis of the traversing slide shaft 810 is parallel or coincident with the transverse axis; the transverse driving mechanism 600 may be a bidirectional hydraulic cylinder, and the cylinder barrel of the bidirectional hydraulic cylinder is fixedly connected to the connecting piece 700, and the telescopic ends at two ends of the bidirectional hydraulic cylinder are respectively abutted to the side support plates of the frame 800, so that the transverse driving of the frame 800 can be realized.
Referring to fig. 4 and 5, a longitudinal driving mechanism 900 may be added, the base 100 is slidably matched with the frame 800, the longitudinal driving mechanism 900 is connected between the base 100 and the frame 800, so that the base 100 is driven by the longitudinal driving mechanism 900 to move along a longitudinal axis, and thus, the base 100 can drive all structures (including the bearing disc 300) mounted on the base to move along the longitudinal axis, thereby indirectly realizing the longitudinal driving of the bearing disc 300, enabling the hung articles on the bearing disc 300 to move along the longitudinal axis, and setting the longitudinal axis and the transverse axis to form an included angle, so as to realize the movement of the articles to be hung in different directions, and enabling the articles to be hung to smoothly move to the hanging position. The longitudinal axis and the transverse axis are preferably disposed vertically so that the carrier tray 300 can be moved to the hanging position more smoothly to facilitate smooth hanging of the hung object.
Specifically, the transverse and longitudinal axes are perpendicular to the axis of rotation of the support platform 200.
The multi-degree-of-freedom tray provided by the embodiment is of a rectangular concave structure, and the inside of the tray is used for bearing and fixing various mechanical and hydraulic elements and the like.
The embodiment also provides hanging object hanging equipment, which comprises a hanging vehicle, a mechanical arm and the multi-degree-of-freedom object tray, wherein the mechanical arm is arranged on the hanging vehicle, and the multi-degree-of-freedom object tray is arranged at the tail end of the mechanical arm.
The hanging object hanging device provided by the embodiment has all the advantages of the multi-degree-of-freedom tray, enlarges the azimuth adjusting range of the hung object, and can better meet the hanging requirement of the object; in addition, the mechanical arm can be controlled to act so as to realize the large-amplitude movement and posture adjustment of the hung object, and the hanging vehicle can be controlled to run so as to realize the long-distance movement of the hung object.
The connecting piece 700 on the multi-degree of freedom tray can be fixedly connected with the tail end of the mechanical arm through the fixing pin 720.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the same; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the utility model.
Claims (10)
1. The multi-degree-of-freedom tray is characterized by comprising a base, a supporting platform, a bearing plate and a gesture adjusting mechanism;
the supporting platform is rotatably arranged on the base; the gesture adjusting mechanism is connected between the supporting platform and the bearing disc and is used for adjusting the gesture of the bearing disc relative to the supporting platform; the bearing disc is used for bearing the object to be hung;
the gesture adjusting mechanism comprises a hydraulic valve block and a plurality of hydraulic actuators, the hydraulic valve block comprises a fixed block provided with a fixed oil way and a rotating block provided with a rotating oil way, the fixed block is fixedly arranged relative to the base, the rotating block is fixedly connected to the supporting platform, the rotating block is in running fit with the fixed block, the fixed oil way is communicated with the rotating oil way in a mutually sealed mode, the rotating oil way is communicated with the hydraulic actuators, and the fixed oil way is used for being connected with a hydraulic system.
2. The multiple degree of freedom pallet of claim 1 further comprising a swing drive mechanism comprising a swing power source, a worm and a sun gear, both the sun gear and the worm being in rotational engagement with the base; the rotary power source is in transmission connection with the worm, the worm is matched with the central gear, and the supporting platform is fixedly connected with the central gear.
3. The multiple degree of freedom tray of claim 2 wherein the rotary power source includes a rotary drive, the rotary drive being in driving connection with the worm;
and/or the rotary power source comprises an operating rod, and the operating rod is in transmission connection with the worm.
4. A multi-degree of freedom tray according to claim 3 wherein the swing drive mechanism further comprises a first gear and a second gear, the rotary drive and the lever being disposed on either side of the first gear and being coaxially fixed with the first gear; the first gear and the second gear are helical cylindrical gears and are meshed with each other, and the second gear and the worm are coaxially fixed.
5. The multiple degree of freedom tray of claim 1 wherein the attitude adjustment mechanism further comprises a pitching member and a rolling member, the pitching member being rotatably engaged with the rotating block and rotatable about a pitching axis; the rolling piece is in running fit with the pitching piece and can rotate around a rolling axis; the bearing plate is fixedly connected to the rolling piece; the hydraulic actuator can drive the bearing coil to rotate around the pitching axis and the rolling axis respectively, and the pitching axis, the rolling axis and the rotation axis of the supporting platform are arranged in an included angle mode.
6. The multi-degree of freedom tray of claim 5 wherein the hydraulic actuator comprises a pitch cylinder and a roll cylinder, wherein the cylinder of the pitch cylinder and the cylinder of the roll cylinder are respectively and fixedly connected to the support platform, and the telescopic ends of the pitch cylinder and the roll cylinder are respectively connected with the bearing plate through a knuckle bearing; the telescopic end of the pitching hydraulic cylinder is collinear with the rolling axis, and the telescopic end of the rolling hydraulic cylinder is collinear with the pitching axis.
7. The multiple degree of freedom tray of claim 6 wherein the pitch cylinders include two and are disposed on either side of the pitch axis;
and/or the rolling hydraulic cylinders comprise two rolling hydraulic cylinders and are respectively arranged at two sides of the rolling axis;
and/or the pitching axis, the rolling axis and the rotation axis of the supporting platform are respectively and pairwise vertically arranged.
8. The multiple degree of freedom tray of any one of claims 1-7 further comprising a transverse drive mechanism, a connector for securing with an end of the robotic arm, and a frame mounted to the frame in sliding engagement with the connector, the transverse drive mechanism being coupled between the connector and the frame for driving the frame to move along a transverse axis.
9. The multiple degree of freedom tray of claim 8 further comprising a longitudinal drive mechanism, the base slidably engaged with the frame, the longitudinal drive mechanism coupled between the base and the frame for driving the base to move along a longitudinal axis, the longitudinal axis disposed at an angle to the transverse axis.
10. A hanging device comprising a hanging vehicle, a mechanical arm and the multi-degree-of-freedom tray according to any one of claims 1 to 9, wherein the mechanical arm is mounted on the hanging vehicle, and the multi-degree-of-freedom tray is mounted at the tail end of the mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320700423.9U CN219970315U (en) | 2023-03-31 | 2023-03-31 | Multi-degree-of-freedom tray and hanging device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320700423.9U CN219970315U (en) | 2023-03-31 | 2023-03-31 | Multi-degree-of-freedom tray and hanging device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219970315U true CN219970315U (en) | 2023-11-07 |
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ID=88580031
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320700423.9U Active CN219970315U (en) | 2023-03-31 | 2023-03-31 | Multi-degree-of-freedom tray and hanging device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219970315U (en) |
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2023
- 2023-03-31 CN CN202320700423.9U patent/CN219970315U/en active Active
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